Several XPS document handling program like the popular Pagemark XPS Converter possess the function of exporting XPS document to image format, including the JPG. The result of xps to jpg conversion will be a picture that looks exactly like an opened XPS documents.
Open XPS file Open JPG fileA dedicated XPS converter
A free XPS to JPG converter
One of the many XPS and OXPS converters
A converter for XPS format