How do I use other personal dataset using this code?

[qufdl4134]

I want to use my personal dataset instead of asl_dataset throughout this code. I make the same format like other asl_dataset like euroc folder > demo folder(I created) > mav0 folder > cam0, cam1, imu0, pointcloud0, state_groundtruth_estimate0, vincon0, body.yaml , and I saved many image png files, which names are time stamp (nsec) from android phone camera in cam0 folder, and made data.csv files in imu folder. I set all the same with asl_dataset. However, when I run this pkg, I cannot see anything in rviz, and there are no error on console. How can I solve this problem?