3D vision with one camera / VSLAM with known position

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I want to map an environment with a single camera which moved through the environment with a known trajectory. So that I create a 3D map. Several SLAM systems can create a (2D or 3D) map and estimate the position of the camera. But in my case this position is already known. So I am looking for a ROS SLAM package that can be supplied with accurate position data. Or a vision package that can be used to do stereovision with movement parallax.