If the intrinsic camera parameters are known it is possible to obtain a metric reconstruction. E.g. this calibration can be obtained through off-line calibration with a calibration object. In the minimal case of 2 views and 5 points multiple solutions can exist , but in general a unique solution is easily found. Traditional structure from motion algorithms assume known intrinsic parameters and obtain metric reconstructions out of it (e.g. [80,159,5,17,140,147]).