fast lio 2 保存每一帧的点云PCD和里程计矩阵 Odom 在txt文件

修改了源代码的 laserMapping.cpp 文件，替换为下面的代码就可以保存了，注意里面有一个路径，需要修改为你的电脑的路径

      
// This is an advanced implementation of the algorithm described in the
// following paper:
//   J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
//     Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
 
// Modifier: Livox               dev@livoxtech.com
 
// Copyright 2013, Ji Zhang, Carnegie Mellon University
// Further contributions copyright (c) 2016, Southwest Research Institute
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of