visualize lidar point cloud data

edit

What would be the best way to visualize lidar data? I am using cv_bridge for images.

 def __init__(self):


    self.bridge = CvBridge()

    self.depth_sub = message_filters.Subscriber("/os1_cloud_node/points",PointCloud2)
    self.image_sub = message_filters.Subscriber("/pylon_camera_node/image_rect_color",Image)

    ts=message_filters.ApproximateTimeSynchronizer([self.image_sub,self.depth_sub],10,1)**strong text**
    ts.registerCallback(self.callback)


  def callback(self,color,depth):