How to make it on custom feature and matches colmap database with lidar map

[leechangyo]

I made colmap data by known camera pose in prior lidar map and custom feature and matching ,triangulate and did PGA.

but because of scale and feature noise, 3d mappoint has error too.

Therefore, I tried to use this to register on lidar map,
Is there anyway I can do by that already two views geometry about it.( I saw code, they do image by image verifications again on mapper. But mine is custom feature, matching, they are not using sift matches that colmap support)