Initialize mono slam with known points?

[antithing]

Hi,

I am looking at ways to initialize mono slam with known 3d points, such as a checkerboard, or fiducial markers. In this way I can run mono slam with real-world scale.

Using openvslam, where would I pass in these initial 2d / 3d points? Can you please point me at the function that initialises the map?

Thanks!