If the tracking is accurate, and there are at least 8 good tracking points, and the camera motion contains enough parallax information to solve the scene, then yes, it is possible.
You can set the scale using known distances.
Select two trackers for which you know the distance in the real world, type that value in the Distance option for orientation. Then press Apply Scale.
Then set up the tracking scene.
Please read also the detailed post on this site on motion tracking:
How can I get better results when doing camera motion tracking?