It doesn't really work like a relaxation oscillator.
The left opamp is an integrator, the right opamp is a schmitt trigger. The integrator charges the capacitor with a current equal to (Vin-Vin/2)/R1 when the output is low and discharges the capacitor with a current equal to (Vin*R4/(R1+R4)-Vin/2)/(R1//R4) (// meaning the parallel resistance, also I'm ignoring Q1 resistance for a moment ... it's about 1 Ohm when on). The voltage at the output of the integrator is Vin/2+Vc1, as that voltage reaches either 1/3*Vref or 2/3*Vref (the Schmitt trigger threshold voltages) the output changes from 0 to 1 and vice versa.
Why they say f is independent of R4 I don't know.