diff --git a/app/src/main/java/org/fairscan/app/data/DocumentMetadata.kt b/app/src/main/java/org/fairscan/app/data/DocumentMetadata.kt
index 9314330..c3c0fca 100644
--- a/app/src/main/java/org/fairscan/app/data/DocumentMetadata.kt
+++ b/app/src/main/java/org/fairscan/app/data/DocumentMetadata.kt
@@ -15,6 +15,7 @@
 package org.fairscan.app.data
 
 import kotlinx.serialization.Serializable
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.ColorMode
 
 @Serializable
@@ -44,6 +45,8 @@ data class PageV2(
     val userQuad: NormalizedQuad? = null,
     val isColored: Boolean? = null,
     val colorMode: ColorMode? = null,
+    val focalLength: Float? = null,
+    val sensorWidth: Float? = null,
 )
 
 @Serializable
diff --git a/app/src/main/java/org/fairscan/app/data/ImageRepository.kt b/app/src/main/java/org/fairscan/app/data/ImageRepository.kt
index e388b39..86dbf8b 100644
--- a/app/src/main/java/org/fairscan/app/data/ImageRepository.kt
+++ b/app/src/main/java/org/fairscan/app/data/ImageRepository.kt
@@ -35,6 +35,7 @@ import org.fairscan.app.domain.ScanPage
 import org.fairscan.imageprocessing.ColorMode
 import org.fairscan.imageprocessing.Point
 import org.fairscan.imageprocessing.Quad
+import org.fairscan.imageprocessing.cameraIntrinsics
 import java.io.File
 import java.util.Collections.synchronizedMap
 
@@ -153,6 +154,8 @@ class ImageRepository(
                     manualRotationDegrees = Rotation.R0.degrees,
                     isColored = metadata.autoColorMode == ColorMode.COLOR,
                     colorMode = colorMode,
+                    focalLength = metadata.cameraIntrinsics?.focalLength,
+                    sensorWidth = metadata.cameraIntrinsics?.sensorWidth,
                 )
             )
             saveMetadata()
@@ -215,8 +218,7 @@ class ImageRepository(
                     val processedJpeg =
                         transformations.process(
                             sourceJpeg,
-                            normalizedQuad = update.normalizedQuad,
-                            baseRotation = metadata.baseRotation,
+                            metadata = metadata.copy(normalizedQuad = update.normalizedQuad),
                             colorMode = update.colorMode
                         )
                     processedFile.writeBytes(processedJpeg.bytes)
@@ -403,6 +405,7 @@ fun PageV2.toMetadata(): PageMetadata? {
     return PageMetadata(
         (userQuad ?: quad).toQuad(),
         Rotation.fromDegrees(baseRotationDegrees),
-        if (isColored) ColorMode.COLOR else ColorMode.GRAYSCALE
+        if (isColored) ColorMode.COLOR else ColorMode.GRAYSCALE,
+        cameraIntrinsics(focalLength, sensorWidth)
     )
 }
diff --git a/app/src/main/java/org/fairscan/app/data/ImageTransformations.kt b/app/src/main/java/org/fairscan/app/data/ImageTransformations.kt
index ef42a8b..12bbf38 100644
--- a/app/src/main/java/org/fairscan/app/data/ImageTransformations.kt
+++ b/app/src/main/java/org/fairscan/app/data/ImageTransformations.kt
@@ -15,9 +15,8 @@
 package org.fairscan.app.data
 
 import org.fairscan.app.domain.Jpeg
-import org.fairscan.app.domain.Rotation
+import org.fairscan.app.domain.PageMetadata
 import org.fairscan.imageprocessing.ColorMode
-import org.fairscan.imageprocessing.Quad
 
 interface ImageTransformations {
 
@@ -27,8 +26,7 @@ interface ImageTransformations {
 
     fun process(
         source: Jpeg,
-        normalizedQuad: Quad,
-        baseRotation: Rotation,
+        metadata: PageMetadata,
         colorMode: ColorMode
     ): Jpeg
 
diff --git a/app/src/main/java/org/fairscan/app/domain/ExportPreparation.kt b/app/src/main/java/org/fairscan/app/domain/ExportPreparation.kt
index 8d6d816..bb22b58 100644
--- a/app/src/main/java/org/fairscan/app/domain/ExportPreparation.kt
+++ b/app/src/main/java/org/fairscan/app/domain/ExportPreparation.kt
@@ -51,8 +51,7 @@ suspend fun jpegsForExport(
                 val colorMode = page.colorMode
                 if (source != null && metadata != null && colorMode != null) {
                     val rotation = page.totalRotation()
-                    val normalizedQuad = metadata.normalizedQuad
-                    processedImage(source, normalizedQuad, rotation, colorMode, exportQuality)
+                    processedImage(source, metadata, rotation, colorMode, exportQuality)
                 }
                 else
                     jpeg(page, imageRepository)
diff --git a/app/src/main/java/org/fairscan/app/domain/Page.kt b/app/src/main/java/org/fairscan/app/domain/Page.kt
index 464853a..09dfa13 100644
--- a/app/src/main/java/org/fairscan/app/domain/Page.kt
+++ b/app/src/main/java/org/fairscan/app/domain/Page.kt
@@ -14,6 +14,7 @@
  */
 package org.fairscan.app.domain
 
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.ColorMode
 import org.fairscan.imageprocessing.Quad
 
@@ -21,6 +22,7 @@ data class PageMetadata(
     val normalizedQuad: Quad,
     val baseRotation: Rotation,
     val autoColorMode: ColorMode,
+    val cameraIntrinsics: CameraIntrinsics?,
 )
 
 data class ScanPage(
diff --git a/app/src/main/java/org/fairscan/app/platform/ImageProcessor.kt b/app/src/main/java/org/fairscan/app/platform/ImageProcessor.kt
index 85cfcd7..d8fd602 100644
--- a/app/src/main/java/org/fairscan/app/platform/ImageProcessor.kt
+++ b/app/src/main/java/org/fairscan/app/platform/ImageProcessor.kt
@@ -25,6 +25,7 @@ import org.fairscan.app.domain.Jpeg
 import org.fairscan.app.domain.PageMetadata
 import org.fairscan.app.domain.Rotation
 import org.fairscan.app.ui.screens.settings.DefaultColorMode
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.ColorMode
 import org.fairscan.imageprocessing.Mask
 import org.fairscan.imageprocessing.Point
@@ -79,17 +80,17 @@ class ImageProcessor(private val thumbnailSizePx: Int) : ImageTransformations {
 
     override fun process(
         source: Jpeg,
-        normalizedQuad: Quad,
-        baseRotation: Rotation,
+        metadata: PageMetadata,
         colorMode: ColorMode
     ): Jpeg {
-        return processedImage(source, normalizedQuad, baseRotation, colorMode, ExportQuality.BALANCED)
+        val baseRotation = metadata.baseRotation
+        return processedImage(source, metadata, baseRotation, colorMode, ExportQuality.BALANCED)
     }
 }
 
 fun processedImage(
     source: Jpeg,
-    normalizedQuad: Quad,
+    metadata: PageMetadata,
     rotation: Rotation,
     colorMode: ColorMode,
     exportQuality: ExportQuality,
@@ -99,8 +100,9 @@ fun processedImage(
     var page: Mat? = null
     try {
         sourceMat = source.toMat()
-        val quad = normalizedQuad.scaledTo(1, 1, sourceMat.width(), sourceMat.height())
-        page = extractDocument(sourceMat, quad, rotationDegrees, colorMode, exportQuality.maxPixels)
+        val quad = metadata.normalizedQuad.scaledTo(1, 1, sourceMat.width(), sourceMat.height())
+        page = extractDocument(sourceMat, quad, rotationDegrees, colorMode, exportQuality.maxPixels,
+            metadata.cameraIntrinsics)
         return Jpeg.fromMat(page, exportQuality.jpegQuality)
     } finally {
         sourceMat?.release()
@@ -114,7 +116,8 @@ fun extractDocumentFromBitmap(
     rotationDegrees: Int,
     mask: Mask?,
     viewModelScope: CoroutineScope,
-    defaultColorMode: DefaultColorMode = DefaultColorMode.AUTO
+    defaultColorMode: DefaultColorMode = DefaultColorMode.AUTO,
+    cameraIntrinsics: CameraIntrinsics?,
 ): CapturedPage {
     val exportQuality = ExportQuality.BALANCED
     var colorMode = ColorMode.COLOR
@@ -140,7 +143,8 @@ fun extractDocumentFromBitmap(
         normalizedQuad = quad.scaledTo(source.width, source.height, 1, 1)
         autoColorMode = autoColorMode(bgr, mask, quad)
         colorMode = defaultColorMode.colorMode ?: autoColorMode
-        page = extractDocument(bgr, quad, rotationDegrees, colorMode, exportQuality.maxPixels)
+        page = extractDocument(bgr, quad, rotationDegrees, colorMode, exportQuality.maxPixels,
+            cameraIntrinsics)
     }
 
     val pageJpeg = Jpeg.fromMat(page, exportQuality.jpegQuality)
@@ -148,7 +152,7 @@ fun extractDocumentFromBitmap(
     page.release()
 
     val baseRotation = Rotation.fromDegrees(rotationDegrees)
-    val metadata = PageMetadata(normalizedQuad, baseRotation, autoColorMode)
+    val metadata = PageMetadata(normalizedQuad, baseRotation, autoColorMode, cameraIntrinsics)
     val sourceJpegDeferred = viewModelScope.async(Dispatchers.IO) {
         compressSource(source)
     }
diff --git a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraPreview.kt b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraPreview.kt
index a56a2da..4d96547 100644
--- a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraPreview.kt
+++ b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraPreview.kt
@@ -19,6 +19,9 @@ import android.util.Log
 import android.util.Size
 import android.view.ViewGroup.LayoutParams.MATCH_PARENT
 import android.widget.LinearLayout
+import androidx.annotation.OptIn
+import androidx.camera.camera2.interop.Camera2CameraInfo
+import androidx.camera.camera2.interop.ExperimentalCamera2Interop
 import androidx.camera.core.CameraControl
 import androidx.camera.core.CameraSelector
 import androidx.camera.core.FocusMeteringAction
@@ -65,12 +68,15 @@ import androidx.core.graphics.scale
 import androidx.lifecycle.LifecycleOwner
 import androidx.lifecycle.compose.LocalLifecycleOwner
 import org.fairscan.app.ui.components.CameraPermissionState
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.Point
 import org.fairscan.imageprocessing.Quad
+import org.fairscan.imageprocessing.cameraIntrinsics
 import org.fairscan.imageprocessing.scaledTo
 import java.util.concurrent.ExecutorService
 import java.util.concurrent.Executors
 import java.util.concurrent.TimeUnit
+import kotlin.math.max
 
 @Composable
 fun CameraPreview(
@@ -162,6 +168,7 @@ fun CameraPreview(
 
 }
 
+@OptIn(ExperimentalCamera2Interop::class)
 fun bindCameraUseCases(
     lifecycleOwner: LifecycleOwner,
     cameraProvider: ProcessCameraProvider,
@@ -207,6 +214,7 @@ fun bindCameraUseCases(
     val camera = cameraProvider.bindToLifecycle(lifecycleOwner, cameraSelector,
         imageAnalysis, preview, imageCapture)
     captureController.cameraControl = camera.cameraControl
+    captureController.setCameraCharacteristics(Camera2CameraInfo.from(camera.cameraInfo))
 }
 
 @Composable
@@ -287,21 +295,22 @@ class CameraCaptureController {
     var imageCapture: ImageCapture? = null
     private val executor = Executors.newSingleThreadExecutor()
     var previewView: PreviewView? = null
+    var cameraIntrinsics: CameraIntrinsics? = null
 
     fun shutdown() {
         executor.shutdown()
     }
 
-    fun takePicture(onImageCaptured: (ImageProxy?) -> Unit) {
+    fun takePicture(onImageCaptured: (ImageProxy?, CameraIntrinsics?) -> Unit) {
         imageCapture?.takePicture(
             executor,
             object : ImageCapture.OnImageCapturedCallback() {
                 override fun onCaptureSuccess(imageProxy: ImageProxy) {
-                    onImageCaptured(imageProxy)
+                    onImageCaptured(imageProxy, cameraIntrinsics)
                 }
                 override fun onError(exception: ImageCaptureException) {
                     Log.e("CameraCapture", "Image capture failed: ${exception.message}", exception)
-                    onImageCaptured(null)
+                    onImageCaptured(null, cameraIntrinsics)
                 }
             }
         )
@@ -320,6 +329,22 @@ class CameraCaptureController {
 
         control.startFocusAndMetering(action)
     }
+
+    @OptIn(ExperimentalCamera2Interop::class)
+    fun setCameraCharacteristics(cameraInfo: Camera2CameraInfo) {
+        val focalLengths = cameraInfo.getCameraCharacteristic(
+            android.hardware.camera2.CameraCharacteristics.LENS_INFO_AVAILABLE_FOCAL_LENGTHS
+        )
+        val sensorSize = cameraInfo.getCameraCharacteristic(
+            android.hardware.camera2.CameraCharacteristics.SENSOR_INFO_PHYSICAL_SIZE
+        )
+        cameraIntrinsics =
+            if (focalLengths == null || focalLengths.size != 1 || sensorSize == null) {
+                null
+            } else {
+                cameraIntrinsics(focalLengths[0], max(sensorSize.width, sensorSize.height))
+            }
+    }
 }
 
 sealed interface CameraBindState {
diff --git a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraScreen.kt b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraScreen.kt
index af5d984..a409d79 100644
--- a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraScreen.kt
+++ b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraScreen.kt
@@ -229,7 +229,8 @@ fun CameraScreen(
                 Log.i("FairScan", "Pressed <Capture>")
                 cameraViewModel.onCapturePressed(it)
                 captureController.takePicture(
-                    onImageCaptured = { imageProxy -> cameraViewModel.onImageCaptured(imageProxy) }
+                    onImageCaptured = { imageProxy, cameraCharacteristics ->
+                        cameraViewModel.onImageCaptured(imageProxy, cameraCharacteristics) }
                 )
             }
         },
@@ -647,7 +648,7 @@ fun CameraScreenPreviewWithProcessedImage() {
         CapturedPage(
             debugImage("gallica.bnf.fr-bpt6k5530456s-1.jpg"),
             CompletableDeferred(Jpeg(ByteArray(0))),
-            PageMetadata(quad, R0, ColorMode.COLOR),
+            PageMetadata(quad, R0, ColorMode.COLOR, null),
             ColorMode.COLOR)))
 }
 
diff --git a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraViewModel.kt b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraViewModel.kt
index 6ebfda0..040d555 100644
--- a/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraViewModel.kt
+++ b/app/src/main/java/org/fairscan/app/ui/screens/camera/CameraViewModel.kt
@@ -34,6 +34,7 @@ import kotlinx.coroutines.withContext
 import org.fairscan.app.AppContainer
 import org.fairscan.app.domain.CapturedPage
 import org.fairscan.app.platform.extractDocumentFromBitmap
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.ImageSize
 import org.fairscan.imageprocessing.detectDocumentQuad
 import java.util.concurrent.CancellationException
@@ -133,12 +134,13 @@ class CameraViewModel(appContainer: AppContainer): ViewModel() {
         }
     }
 
-    fun onImageCaptured(imageProxy: ImageProxy?) {
+    fun onImageCaptured(imageProxy: ImageProxy?, cameraIntrinsics: CameraIntrinsics?) {
         if (imageProxy != null) {
             viewModelScope.launch {
                 try {
                     val source = imageProxy.toBitmap()
-                    val page = processCapturedImage(source, imageProxy.imageInfo.rotationDegrees)
+                    val rotationDegrees = imageProxy.imageInfo.rotationDegrees
+                    val page = processCapturedImage(source, rotationDegrees, cameraIntrinsics)
                     imageProxy.close()
                     onCaptureProcessed(page)
                 } catch (e: RuntimeException) {
@@ -154,6 +156,7 @@ class CameraViewModel(appContainer: AppContainer): ViewModel() {
     private suspend fun processCapturedImage(
         source: Bitmap,
         rotationDegrees: Int,
+        cameraIntrinsics: CameraIntrinsics?,
     ): CapturedPage = withContext(Dispatchers.IO) {
         val segmentation = imageSegmentationService.runSegmentationAndReturn(source)
         val mask = segmentation?.segmentation
@@ -161,7 +164,7 @@ class CameraViewModel(appContainer: AppContainer): ViewModel() {
         val quad = mask?.let { detectDocumentQuad(mask, originalSize, isLiveAnalysis = false) }
         val defaultColorMode = settingsRepository.defaultColorMode.first()
         val result = extractDocumentFromBitmap(
-            source, quad, rotationDegrees, mask, viewModelScope, defaultColorMode)
+            source, quad, rotationDegrees, mask, viewModelScope, defaultColorMode, cameraIntrinsics)
         return@withContext result
     }
 
@@ -202,11 +205,9 @@ class CameraViewModel(appContainer: AppContainer): ViewModel() {
                 try {
                     val photoToImport = imageLoader.load(uri)
                     ensureActive()
-                    val page = processCapturedImage(photoToImport, 0)
+                    val page = processCapturedImage(photoToImport, 0, null)
                     ensureActive()
-                    page?.let {
-                        _events.emit(CameraEvent.ImageCaptured(it))
-                    }
+                    _events.emit(CameraEvent.ImageCaptured(page))
                 } catch (e: CancellationException) {
                     throw e
                 } catch (e: Exception) {
diff --git a/app/src/test/java/org/fairscan/app/data/ImageRepositoryTest.kt b/app/src/test/java/org/fairscan/app/data/ImageRepositoryTest.kt
index 28ed97e..88067a9 100644
--- a/app/src/test/java/org/fairscan/app/data/ImageRepositoryTest.kt
+++ b/app/src/test/java/org/fairscan/app/data/ImageRepositoryTest.kt
@@ -31,6 +31,7 @@ import org.fairscan.app.domain.Rotation.R0
 import org.fairscan.app.domain.Rotation.R180
 import org.fairscan.app.domain.Rotation.R270
 import org.fairscan.app.domain.Rotation.R90
+import org.fairscan.imageprocessing.CameraIntrinsics
 import org.fairscan.imageprocessing.ColorMode
 import org.fairscan.imageprocessing.ColorMode.COLOR
 import org.fairscan.imageprocessing.ColorMode.GRAYSCALE
@@ -51,7 +52,8 @@ class ImageRepositoryTest {
     private val testScope = TestScope()
 
     val quad1 = Quad(Point(.01, .02), Point(.1, .03), Point(.11, .12), Point(.03, .09))
-    val metadata1 = PageMetadata(quad1, R90, COLOR)
+    val intrinsics = CameraIntrinsics(42.0f, 43.0f)
+    val metadata1 = PageMetadata(quad1, R90, COLOR, intrinsics)
 
     fun getFilesDir(): File {
         if (_filesDir == null) {
@@ -63,7 +65,7 @@ class ImageRepositoryTest {
     fun repo(
         rotate: (Jpeg, Int) -> Jpeg = { input, _ -> input },
         resizeToThumbnail: (Jpeg) -> Jpeg = { input -> jpeg(input.bytes[0]) },
-        process: (Jpeg, Quad, Rotation, ColorMode) -> Jpeg = { _, _, _, _ ->
+        process: (Jpeg, PageMetadata, ColorMode) -> Jpeg = { _, _, _ ->
             throw UnsupportedOperationException()
         }
     ): ImageRepository {
@@ -74,10 +76,9 @@ class ImageRepositoryTest {
                 resizeToThumbnail(input)
             override fun process(
                 source: Jpeg,
-                normalizedQuad: Quad,
-                baseRotation: Rotation,
+                metadata: PageMetadata,
                 colorMode: ColorMode
-            ): Jpeg = process(source, normalizedQuad, baseRotation, colorMode)
+            ): Jpeg = process(source, metadata, colorMode)
         }
 
         return ImageRepository(getFilesDir(), transformations, testScope)
@@ -244,7 +245,7 @@ class ImageRepositoryTest {
     fun setColorMode_should_process_and_update_metadata() = runTest {
         val jpeg1 = jpeg(10)
         val repo = repo(
-            process = { _, _ , _, mode ->
+            process = { _,  _, mode ->
                 assertThat(mode).isEqualTo(GRAYSCALE)
                 jpeg(41)
             }
@@ -262,7 +263,7 @@ class ImageRepositoryTest {
     fun setColorMode_should_not_run_twice_in_parallel() = runTest {
         var processCalls = 0
         val repo = repo(
-            process = { _, _, _, _ ->
+            process = { _, _, _ ->
                 processCalls++
                 runBlocking { delay(10) }
                 jpeg(1)
diff --git a/imageprocessing/src/main/java/org/fairscan/imageprocessing/DocumentDetection.kt b/imageprocessing/src/main/java/org/fairscan/imageprocessing/DocumentDetection.kt
index 5f3fb05..9698b3d 100644
--- a/imageprocessing/src/main/java/org/fairscan/imageprocessing/DocumentDetection.kt
+++ b/imageprocessing/src/main/java/org/fairscan/imageprocessing/DocumentDetection.kt
@@ -156,9 +156,14 @@ fun extractDocument(
     rotationDegrees: Int,
     colorMode: ColorMode,
     maxPixels: Long,
+    cameraIntrinsics: CameraIntrinsics? = null,
 ): Mat {
-    val (targetWidth, targetHeight) = estimateRealDimensions(quad, inputMat.cols(), inputMat.rows())
-
+    val (targetWidth, targetHeight) = estimateRealDimensions(
+        quad,
+        inputMat.cols(),
+        inputMat.rows(),
+        cameraIntrinsics
+    )
     val srcPoints = MatOfPoint2f(
         quad.topLeft.toCv(),
         quad.topRight.toCv(),
diff --git a/imageprocessing/src/main/java/org/fairscan/imageprocessing/Perspective.kt b/imageprocessing/src/main/java/org/fairscan/imageprocessing/Perspective.kt
index 375284d..3f3955e 100644
--- a/imageprocessing/src/main/java/org/fairscan/imageprocessing/Perspective.kt
+++ b/imageprocessing/src/main/java/org/fairscan/imageprocessing/Perspective.kt
@@ -32,6 +32,21 @@ data class Vector3D(val x: Double, val y: Double, val z: Double) {
     fun norm() = sqrt(x * x + y * y + z * z)
 }
 
+data class CameraIntrinsics(
+    // in millimeters
+    val focalLength: Float,
+    val sensorWidth: Float,
+) {
+    fun focalLengthInPixels(imageWidthInPixels: Int) =
+        focalLength / sensorWidth * imageWidthInPixels
+}
+
+fun cameraIntrinsics(focalLengthInMm: Float?, sensorWidthInMm: Float?): CameraIntrinsics? {
+    if (focalLengthInMm == null || sensorWidthInMm == null)
+        return null
+    return CameraIntrinsics(focalLengthInMm, sensorWidthInMm)
+}
+
 /**
  * Estimates the true width and height of the document in the output image,
  * correcting for perspective distortion using projective geometry.
@@ -44,7 +59,12 @@ data class Vector3D(val x: Double, val y: Double, val z: Double) {
  * - https://www.robots.ox.ac.uk/~vgg/publications/1999/Criminisi99/criminisi99.pdf
  * - https://web.stanford.edu/class/cs231a/course_notes/02-single-view-metrology.pdf
 */
-fun estimateRealDimensions(quad: Quad, imageWidth: Int, imageHeight: Int): Pair<Double, Double> {
+fun estimateRealDimensions(
+    quad: Quad,
+    imageWidth: Int,
+    imageHeight: Int,
+    cameraIntrinsics: CameraIntrinsics?
+): Pair<Double, Double> {
 
     fun averageSides(): Pair<Double, Double> {
         val w = (norm(quad.topLeft, quad.topRight) + norm(quad.bottomLeft, quad.bottomRight)) / 2
@@ -77,14 +97,18 @@ fun estimateRealDimensions(quad: Quad, imageWidth: Int, imageHeight: Int): Pair<
     val v1 = Point(v1h.x / v1h.z - cx, v1h.y / v1h.z - cy)
     val v2 = Point(v2h.x / v2h.z - cx, v2h.y / v2h.z - cy)
 
-    // Focal length estimated assuming zero skew and principal point at image center.
-    // Under these assumptions, the Image of the Absolute Conic (IAC) simplifies,
-    // and orthogonal directions satisfy v1 · ω · v2 = 0,
-    // which reduces to: f² = -(v1x·v2x + v1y·v2y)
-    val f2 = -(v1.x * v2.x + v1.y * v2.y)
-    if (f2 <= 0)
-        return averageSides()
-    val f = sqrt(f2)
+    val f = if (cameraIntrinsics != null) {
+        cameraIntrinsics.focalLengthInPixels(max(imageWidth, imageHeight)).toDouble()
+    } else {
+        // Focal length estimated assuming zero skew and principal point at image center.
+        // Under these assumptions, the Image of the Absolute Conic (IAC) simplifies,
+        // and orthogonal directions satisfy v1 · ω · v2 = 0,
+        // which reduces to: f² = -(v1x·v2x + v1y·v2y)
+        val f2 = -(v1.x * v2.x + v1.y * v2.y)
+        if (f2 <= 0)
+            return averageSides()
+        sqrt(f2)
+    }
 
     // Fall back when f is too large: document nearly fronto-parallel,
     // vanishing points are far away, making the focal length estimate unstable.