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Description
For me, the definition of the optical flow output of CARLA is not clear.
- Flow Type: at time-step t, am I getting the forward optical flow from t to t+1 or am I getting the backward optical flow from t to t-1? (For reference, see Figure 2 in this paper)
- Scaling: From your documentation, it's not really clear to me how to correctly scale the flow output to get pixel values. Do I multiply the flow in x-direction with the sensor width and the flow in y-direction with the sensor height?