Obviously, since:
vx=Tzx−Txf/Z − (ωyf+ωzy) + ωxxy/f−ωyx2/f(4)
vy=Tzy−Tyf/Z − (ωxf+ωzx) − ωyxy/f+ωxy2/f(5)
where (Tx,Ty,T/z) and (ωx,ωy,ωz)are the translational component and angular velocity of the relative motion of the scene point Pin the camera coordinate system, respectively.