add segmentation mask option

[maxim0815]

I had a similar issue as in #41 for this reason I simply added the option to upload masks as well. Not sure if this is relevant to you. If no one needs it, I can leave it in my fork. If masks are specified, the point cloud will be colored according to the specified masks. If no masks are given, nothing new is done.

I also updated the requirements to fix issue #73

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