1. A method, comprising: performing, by one or more computing devices: obtaining a reconstruction of camera motion and camera intrinsic parameters for an image sequence including a plurality of frames, the reconstruction including a set of keyframes selected from the plurality of frames of the image sequence; selecting a frame not included in the reconstruction and between keyframes 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; and repeating the selecting and the reconstructing until a total number of frames included in the reconstruction reaches a specified threshold.