将需要转换的pcd文件放入build目录下，名称改为GlobalMap.pcd
cd build
./pcd2jpg
输出的jpg文件名为output_image.jpg
transData中记录的是点云坐标系到像素坐标系的变换关系以及分辨率放大倍数。
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将.pcd点云文件转换成.jpg格式的图片
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