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Current Vector Map Builder seems to have trouble rendering .pcd map in ASCII format, but ndt_mapping exports pcd map in ASCII format. (FYI, you can check it by running $ head -n 11 autoware-190703-2.pcd and you should see DATA ascii in the output.)

In order to convert it to binary format, you can run following commands:

$ sudo apt install pcl-tools 
$ pcl_convert_pcd_ascii_binary autoware-190703-2.pcd bin-autoware-190703-2.pcd 1

Now you should have bin-autoware-190703-2.pcd which is in binary format, and Vector Map Builder should be able to render this pcd with lighter color.