"Stock" SLAM with OpenFrameworks

I’m currently getting into monocular SLAM (Simultaneous localization and mapping) and found that some methods used for SLAM are already part of the ofcCv library (optical flow), the 5-Point-Algorithm appears also be part of stock openCV. So I was wondering if some SLAM methods may already exist in OF or one of its addons.
Even if they’re not good or fast they may help get me going.