Running segmap localizer with own datastream

[palffybalazs]

I would like to use my own rosbag, which contains a Velodyne pointcloud sequence, and also an MLS pointcloud from a part of my city to run the localizer. Basically the localization demo would be ideal, if it could handle my data, using the MLS cloud as the base(lower part with white colour), and the sequence as it can be seen in the tutorial.
Could someone provide some help achieving this goal?
Also, any idea or other approach is appreciated.
I can transform my data structure, in case it is needed.
Thanks in advance!