Comment by danybittel

You can definitely feed camera intrinsic (lens, sensor size..) and extrinsic (position, rotation..) into the SfM. While the intrinsic are very useful the extrinsic not actually that much. In no way can you measure the rotation good enough, to get subpixel accuracy. The position can be useful as an initial guess, but I found it more hassle than worth it. If the images track well, have enough overlap, you can get exact tracking out of them without dealing with extrinsic. If they don't track well, extrinsic won't save you. That was at least my experience.