questions about optical flow of training dataset?

[EMJian]

Hello, I am deeply appreciative of your great work. While utilizing your data generation module, I successfully replicated your dataset; however, I still have a few unresolved questions:

1. I have extracted the '/cam0/optic_flow' from the bag file, which is intended to represent optical flow between consecutive frames. My confusion arises from the observation that optical flow (2hw) matches grayscale images (h*w). It has only one timestamp for the optical flow data. This leaves me uncertain as to how to ascertain which pair of consecutive frames a given optical flow corresponds to.

2. Regarding the use of temporal consistency loss, my understanding is that we employ the ground truth optical flow to warp the previously reconstructed image to the current time step. Following this warping, we compute the loss between the result of the warped image and the currently reconstructed image. Could you kindly confirm if my interpretation is accurate, or if there are any misconceptions that need correcting?