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Since you mentionned rtabmap, I'll describe what you can already do with it. rtabmap can do stereo localization in a map created previously by rtabmap (with any other sensors, stereo or rgb-d):

$ roslaunch rtabmap_ros stereo_mapping.launch database_path:="~/map_created_with_kinect.db" localization:=true

See stereo_mapping.launch for other remapping options (image topics or frame_id.). You can also see this tutorial on stereo mapping with rtabmap.

rtabmap will not do stereo/rgbd localization on an arbitrary raw point cloud, only with its database format.

cheers