how to understand the vanishing point formula

[gucasbrg]

new_vp = eon_intrinsics.dot(view_frame_from_device_frame.dot(trans))

trans means speed? can you provide some article to explanation these formula

[dek3rr]

trans as in translation of the camera frame.
this is probably a decent start to understand frames and camera properties
http://ksimek.github.io/2013/08/13/intrinsic/

[gucasbrg]

@dekerr

def handle_cam_odom(self, log):
trans, rot = log.cameraOdometry.trans, log.cameraOdometry.rot
if np.linalg.norm(trans) > MIN_SPEED_FILTER and abs(rot[2]) < MAX_YAW_RATE_FILTER:
  new_vp = eon_intrinsics.dot(view_frame_from_device_frame.dot(trans))

the defination of trans in CameraOdometry,looks like m/s in device frame

struct CameraOdometry {
  trans @0 :List(Float32); # m/s in device frame
  rot @1 :List(Float32); # rad/s in device frame
  transStd @2 :List(Float32); # std m/s in device frame
  rotStd @3 :List(Float32); # std rad/s in device frame
}

[gucasbrg]