I have been diligently reading my copy of Multiple View Geometry in Computer Vision by R. Hartley and A. Zisserman for a while now, though half the material there was honestly going over my head. 
I was hoping that by learning to use the SFM module, it will expedite the process. Regardless, thank you for taking the time in answering my thread. Your point about addressing the scale ambiguity has been really helpful.