def cull_map(map_points, ceiling, floor):
    """
    Removes points above the ceiling and below the floor so that when it\'s plotted in the horizontal plane points on
    the ceiling and floor get cut out for a cleaner map
    :param floor: Threshold below which map points will be removed
    :param ceiling: Threshold above which map points will be removed
    :param map_points: Point cloud
    :return: culled map
    """
    culled_map = []
    for i in range(len(map_points)):
        point = map_points[i]
        if ceiling > point[1] > floor:
            culled_map.append(point)

    return culled_map