diff --git a/meshroom/pipelines/cameraTracking.mg b/meshroom/pipelines/cameraTracking.mg
index d70bcb32ff..b5057c8f3c 100644
--- a/meshroom/pipelines/cameraTracking.mg
+++ b/meshroom/pipelines/cameraTracking.mg
@@ -5,16 +5,106 @@
         "fileVersion": "1.1",
         "template": true,
         "nodesVersions": {
-            "ExportAnimatedCamera": "2.0",
-            "Publish": "1.3",
-            "StructureFromMotion": "3.0",
             "FeatureExtraction": "1.1",
-            "FeatureMatching": "2.0",
             "CameraInit": "9.0",
-            "ImageMatching": "2.0"
+            "DepthMap": "3.0",
+            "SfMTriangulation": "1.0",
+            "ExportDistortion": "1.0",
+            "DepthMapFilter": "3.0",
+            "DistortionCalibration": "3.0",
+            "PrepareDenseScene": "3.0",
+            "KeyframeSelection": "4.0",
+            "Publish": "1.3",
+            "StructureFromMotion": "3.1",
+            "CheckerboardDetection": "1.0",
+            "ImageMatchingMultiSfM": "1.0",
+            "ApplyCalibration": "1.0",
+            "Texturing": "6.0",
+            "ExportAnimatedCamera": "2.0",
+            "Meshing": "7.0",
+            "MeshDecimate": "1.0",
+            "ScenePreview": "1.0",
+            "ConvertSfMFormat": "2.0",
+            "MeshFiltering": "3.0",
+            "FeatureMatching": "2.0",
+            "ImageMatching": "2.0",
+            "SfMTransfer": "2.1"
         }
     },
     "graph": {
+        "CameraInit_1": {
+            "nodeType": "CameraInit",
+            "position": [
+                -200,
+                0
+            ],
+            "inputs": {}
+        },
+        "DepthMapFilter_1": {
+            "nodeType": "DepthMapFilter",
+            "position": [
+                2400,
+                0
+            ],
+            "inputs": {
+                "input": "{DepthMap_1.input}",
+                "depthMapsFolder": "{DepthMap_1.output}"
+            }
+        },
+        "DepthMap_1": {
+            "nodeType": "DepthMap",
+            "position": [
+                2200,
+                0
+            ],
+            "inputs": {
+                "input": "{PrepareDenseScene_1.input}",
+                "imagesFolder": "{PrepareDenseScene_1.output}"
+            }
+        },
+        "FeatureExtraction_1": {
+            "nodeType": "FeatureExtraction",
+            "position": [
+                200,
+                200
+            ],
+            "inputs": {
+                "input": "{ApplyCalibration_1.output}"
+            }
+        },
+        "FeatureMatching_1": {
+            "nodeType": "FeatureMatching",
+            "position": [
+                600,
+                0
+            ],
+            "inputs": {
+                "input": "{ImageMatching_1.input}",
+                "featuresFolders": "{ImageMatching_1.featuresFolders}",
+                "imagePairsList": "{ImageMatching_1.output}",
+                "describerTypes": "{FeatureExtraction_1.describerTypes}"
+            },
+            "internalInputs": {
+                "label": "FeatureMatchingKeyframes"
+            }
+        },
+        "ImageMatchingMultiSfM_1": {
+            "nodeType": "ImageMatchingMultiSfM",
+            "position": [
+                1000,
+                200
+            ],
+            "inputs": {
+                "input": "{KeyframeSelection_1.outputSfMDataFrames}",
+                "inputB": "{StructureFromMotion_2.output}",
+                "featuresFolders": [
+                    "{FeatureExtraction_1.output}"
+                ],
+                "method": "VocabularyTree",
+                "matchingMode": "a/b",
+                "nbMatches": 20
+            }
+        },
         "ImageMatching_1": {
             "nodeType": "ImageMatching",
             "position": [
@@ -22,84 +112,307 @@
                 0
             ],
             "inputs": {
-                "input": "{FeatureExtraction_1.input}",
+                "input": "{KeyframeSelection_1.outputSfMDataKeyframes}",
                 "featuresFolders": [
                     "{FeatureExtraction_1.output}"
                 ],
-                "nbMatches": 5,
-                "nbNeighbors": 10
+                "method": "Exhaustive"
+            },
+            "internalInputs": {
+                "label": "ImageMatchingKeyframes"
             }
         },
-        "FeatureExtraction_1": {
-            "nodeType": "FeatureExtraction",
+        "KeyframeSelection_1": {
+            "nodeType": "KeyframeSelection",
             "position": [
                 200,
                 0
             ],
             "inputs": {
-                "input": "{CameraInit_1.output}"
+                "inputPaths": [
+                    "{ApplyCalibration_1.output}"
+                ]
+            }
+        },
+        "MeshDecimate_1": {
+            "nodeType": "MeshDecimate",
+            "position": [
+                3000,
+                0
+            ],
+            "inputs": {
+                "input": "{MeshFiltering_1.outputMesh}",
+                "simplificationFactor": 0.05
+            }
+        },
+        "MeshFiltering_1": {
+            "nodeType": "MeshFiltering",
+            "position": [
+                2800,
+                0
+            ],
+            "inputs": {
+                "inputMesh": "{Meshing_1.outputMesh}",
+                "filterLargeTrianglesFactor": 10.0
+            }
+        },
+        "PrepareDenseScene_1": {
+            "nodeType": "PrepareDenseScene",
+            "position": [
+                2000,
+                0
+            ],
+            "inputs": {
+                "input": "{SfMTriangulation_1.output}"
+            }
+        },
+        "SfMTransfer_1": {
+            "nodeType": "SfMTransfer",
+            "position": [
+                1600,
+                0
+            ],
+            "inputs": {
+                "input": "{KeyframeSelection_1.outputSfMDataKeyframes}",
+                "reference": "{StructureFromMotion_1.output}",
+                "transferLandmarks": false
+            },
+            "internalInputs": {
+                "comment": "Transfer pose from final camera tracking into the keyframes-only scene."
+            }
+        },
+        "SfMTriangulation_1": {
+            "nodeType": "SfMTriangulation",
+            "position": [
+                1800,
+                0
+            ],
+            "inputs": {
+                "input": "{SfMTransfer_1.output}",
+                "featuresFolders": "{StructureFromMotion_2.featuresFolders}",
+                "matchesFolders": "{StructureFromMotion_2.matchesFolders}"
+            }
+        },
+        "Texturing_1": {
+            "nodeType": "Texturing",
+            "position": [
+                3200,
+                0
+            ],
+            "inputs": {
+                "input": "{Meshing_1.output}",
+                "imagesFolder": "{PrepareDenseScene_1.output}",
+                "inputMesh": "{MeshDecimate_1.output}"
+            }
+        },
+        "Publish_1": {
+            "nodeType": "Publish",
+            "position": [
+                3574,
+                166
+            ],
+            "inputs": {
+                "inputFiles": [
+                    "{ExportAnimatedCamera_1.output}",
+                    "{Texturing_1.output}",
+                    "{ScenePreview_1.output}",
+                    "{ExportDistortion_1.output}"
+                ]
+            }
+        },
+        "ExportAnimatedCamera_1": {
+            "nodeType": "ExportAnimatedCamera",
+            "position": [
+                1600,
+                200
+            ],
+            "inputs": {
+                "input": "{StructureFromMotion_1.output}",
+                "exportUndistortedImages": true
+            }
+        },
+        "Meshing_1": {
+            "nodeType": "Meshing",
+            "position": [
+                2600,
+                0
+            ],
+            "inputs": {
+                "input": "{DepthMapFilter_1.input}",
+                "depthMapsFolder": "{DepthMapFilter_1.output}",
+                "estimateSpaceFromSfM": false,
+                "minStep": 1,
+                "fullWeight": 10.0,
+                "saveRawDensePointCloud": true
+            }
+        },
+        "CheckerboardDetection_1": {
+            "nodeType": "CheckerboardDetection",
+            "position": [
+                -400,
+                -160
+            ],
+            "inputs": {
+                "input": "{CameraInit_2.output}",
+                "useNestedGrids": true,
+                "exportDebugImages": true
+            }
+        },
+        "DistortionCalibration_1": {
+            "nodeType": "DistortionCalibration",
+            "position": [
+                -200,
+                -160
+            ],
+            "inputs": {
+                "input": "{CheckerboardDetection_1.input}",
+                "checkerboards": "{CheckerboardDetection_1.output}"
+            }
+        },
+        "ExportDistortion_1": {
+            "nodeType": "ExportDistortion",
+            "position": [
+                0,
+                -160
+            ],
+            "inputs": {
+                "input": "{DistortionCalibration_1.output}"
+            }
+        },
+        "ApplyCalibration_1": {
+            "nodeType": "ApplyCalibration",
+            "position": [
+                0,
+                0
+            ],
+            "inputs": {
+                "input": "{CameraInit_1.output}",
+                "calibration": "{DistortionCalibration_1.output}"
+            }
+        },
+        "ScenePreview_1": {
+            "nodeType": "ScenePreview",
+            "position": [
+                3200,
+                200
+            ],
+            "inputs": {
+                "cameras": "{ConvertSfMFormat_1.output}",
+                "model": "{MeshDecimate_1.output}",
+                "undistortedImages": "{ExportAnimatedCamera_1.outputUndistorted}"
+            }
+        },
+        "ConvertSfMFormat_1": {
+            "nodeType": "ConvertSfMFormat",
+            "position": [
+                3000,
+                200
+            ],
+            "inputs": {
+                "input": "{ExportAnimatedCamera_1.input}",
+                "fileExt": "json",
+                "describerTypes": "{StructureFromMotion_1.describerTypes}",
+                "structure": false,
+                "observations": false
             }
         },
         "StructureFromMotion_1": {
             "nodeType": "StructureFromMotion",
             "position": [
-                800,
-                0
+                1400,
+                200
             ],
             "inputs": {
-                "input": "{FeatureMatching_1.input}",
-                "featuresFolders": "{FeatureMatching_1.featuresFolders}",
+                "input": "{FeatureMatching_3.input}",
+                "featuresFolders": "{FeatureMatching_3.featuresFolders}",
                 "matchesFolders": [
-                    "{FeatureMatching_1.output}"
+                    "{FeatureMatching_3.output}",
+                    "{FeatureMatching_2.output}"
                 ],
-                "describerTypes": "{FeatureMatching_1.describerTypes}",
+                "describerTypes": "{FeatureMatching_3.describerTypes}",
                 "minInputTrackLength": 5,
                 "minNumberOfObservationsForTriangulation": 3,
                 "minAngleForTriangulation": 1.0,
                 "minAngleForLandmark": 0.5
+            },
+            "internalInputs": {
+                "comment": "Estimate cameras parameters for the complete camera tracking sequence."
             }
         },
-        "ExportAnimatedCamera_1": {
-            "nodeType": "ExportAnimatedCamera",
+        "StructureFromMotion_2": {
+            "nodeType": "StructureFromMotion",
             "position": [
-                1000,
+                800,
                 0
             ],
             "inputs": {
-                "input": "{StructureFromMotion_1.output}"
+                "input": "{FeatureMatching_1.input}",
+                "featuresFolders": "{FeatureMatching_1.featuresFolders}",
+                "matchesFolders": [
+                    "{FeatureMatching_1.output}"
+                ],
+                "describerTypes": "{FeatureMatching_1.describerTypes}"
+            },
+            "internalInputs": {
+                "comment": "Solve all keyframes first.",
+                "label": "StructureFromMotionKeyframes"
             }
         },
-        "CameraInit_1": {
-            "nodeType": "CameraInit",
+        "FeatureMatching_2": {
+            "nodeType": "FeatureMatching",
             "position": [
-                0,
-                0
+                1200,
+                360
             ],
-            "inputs": {}
+            "inputs": {
+                "input": "{ImageMatching_2.input}",
+                "featuresFolders": "{ImageMatching_2.featuresFolders}",
+                "imagePairsList": "{ImageMatching_2.output}"
+            },
+            "internalInputs": {
+                "label": "FeatureMatchingAllFrames"
+            }
         },
-        "FeatureMatching_1": {
-            "nodeType": "FeatureMatching",
+        "ImageMatching_2": {
+            "nodeType": "ImageMatching",
             "position": [
-                600,
-                0
+                1000,
+                360
             ],
             "inputs": {
-                "input": "{ImageMatching_1.input}",
-                "featuresFolders": "{ImageMatching_1.featuresFolders}",
-                "imagePairsList": "{ImageMatching_1.output}",
-                "describerTypes": "{FeatureExtraction_1.describerTypes}"
+                "input": "{ApplyCalibration_1.output}",
+                "featuresFolders": [
+                    "{FeatureExtraction_1.output}"
+                ],
+                "method": "Sequential",
+                "nbNeighbors": 20
             }
         },
-        "Publish_1": {
-            "nodeType": "Publish",
+        "CameraInit_2": {
+            "nodeType": "CameraInit",
+            "position": [
+                -600,
+                -160
+            ],
+            "inputs": {},
+            "internalInputs": {
+                "label": "CameraInitLensGrid"
+            }
+        },
+        "FeatureMatching_3": {
+            "nodeType": "FeatureMatching",
             "position": [
                 1200,
-                0
+                200
             ],
             "inputs": {
-                "inputFiles": [
-                    "{ExportAnimatedCamera_1.output}"
-                ]
+                "input": "{ImageMatchingMultiSfM_1.outputCombinedSfM}",
+                "featuresFolders": "{ImageMatchingMultiSfM_1.featuresFolders}",
+                "imagePairsList": "{ImageMatchingMultiSfM_1.output}",
+                "describerTypes": "{FeatureExtraction_1.describerTypes}"
+            },
+            "internalInputs": {
+                "label": "FeatureMatchingFramesToKeyframes"
             }
         }
     }