1. A method, comprising: generating, by one or more computing devices, a Euclidean reconstruction for an image sequence comprising a plurality of frames according to a set of inter-image homographies estimated from point correspondences of structures in an entire scene for the image sequence, wherein each inter-image homography represents a projective transformation from one image in the sequence to another image in the sequence, wherein said generating comprises: estimating at least one Euclidean reconstruction at each of two or more focal lengths according to the set of inter-image homographies, wherein each Euclidean reconstruction comprises camera motion and camera intrinsic parameters at each frame of the image sequence and a plane normal for the image sequence; and selecting one of the Euclidean reconstructions that best fits the set of inter-image homographies as the Euclidean reconstruction for the image sequence.