1. A method, comprising: performing, by one or more computing devices: obtaining an input image sequence including a plurality of frames; obtaining a reconstruction of camera motion and camera intrinsic parameters for the image sequence, the reconstruction including a set of keyframes selected from the plurality of frames of the image sequence; selecting one of the plurality of frames of the image sequence that is not included in the reconstruction; reconstructing camera motion and camera intrinsic parameters for the selected frame according to the reconstruction and at least a portion of a set of point trajectories for the image sequence, the reconstructing adding the selected frame to the reconstruction; repeating the selecting and the reconstructing until each of the plurality of frames of the image sequence is included in the reconstruction; and performing a global optimization of each of the frames in the reconstruction.