HI!

I just can not understand why pixel_flow_y/focal_length_px? why the unit of optical_flow_rad becomes radian?

//rad axis swapped to align x flow around y axis

accumulated_flow_x += pixel_flow_y / focal_length_px * 1.0f;

accumulated_flow_y += pixel_flow_x / focal_length_px * -1.0f;//rad

1 Like

if p is pixel in image,P is real world point,f is focal length,Z is distance from cam to P,

p/f = P/Z

r is rotation angle

r = atan(P/Z)

if r is small enough atan can be removed

r = p/f

if my answer is wrong Please correct it