1. A method, comprising: performing, by one or more computing devices: obtaining a current reconstruction of camera motion and camera intrinsic parameters for an image sequence including a plurality of frames, wherein the current reconstruction includes a set of keyframes selected from the plurality of frames of the image sequence; selecting a frame not included in the current reconstruction, wherein the selected frame is between keyframes in the current reconstruction; reconstructing camera motion and camera intrinsic parameters for the selected frame according to the current reconstruction and at least a portion of a set of point trajectories for the image sequence, wherein said reconstructing adds the selected frame to the current reconstruction; and repeating said selecting and said reconstructing until the total number of frames included in the current reconstruction reaches a specified threshold number of frames.