Questions about colmap matcher for multicamera setup

[stas-polukeev]

Hello! Thanks for great work, I've been running multiple experiments with your repository, the results are impressive!
However, I have a question concerning the colmap matcher.
As far as I understood from the paper apendix on the colmap you are doing a per-camera sequential matcher with multiple loop closure matches all in the realm of the same camera.
However, the camera setup you showed in the papers suggests some overlap between neighboring cameras. Are you doing any kind of matching between the adjacent cameras? If so, what logic do you use?
All the details about the matcher logic would be really welcome, thank you in advance!

[ameuleman]

Hi,
When matching a capture i to a capture j, we match all images of the rig at time i to all images of the rig at time j.