A way to apply SfM from frames belonging to Multi-camera with shared FoV?

Hi,

I am trying to understand whether it is possible to run SfM for a scene involving moving targets, but static multi-view cameras. (Initial pose of the camera wouldn't change with time). I don't plan to use it for real-time but as a post-processing step. How can I pass multiple-images from the same camera, which are temporally aligned? (in other words, a video stream from multiple cameras).

Furthermore, once the a) Focal length of the camera, b) Relative pose of the cameras are obtained, I would like to use this information to sequentially compute feature, map them and obtain depth maps. I am only interested in the depth maps and hence would prefer to not save the features, matches, etc. locally. Is there a stand-alone script that does it?

Thank you in advance for your time and response.

Regards,

No files, tests, or entry points are named. Start by reviewing the OpenSfM pipeline and its documented input and output paths; done would require a clearly scoped answer or implementation plan for temporally aligned multi-camera streams and depth-only processing.