Tracking camera with existing scene

Hi guys!

I have rarely used blender camera tracking so my question might be a kind of silly, but is it possible to track camera if I have recreated my filmed scene in 3D already?

For example, I have a footage of the room with objects and I have the exact model of this room (with some objects) in Blender — is it possible to (maybe) create 3D markers, place them in 3D space, attach to corresponding 2D markers and recreate the camera movement?

Maybe there is some document or tutorial about this case?