gistfile1.txt

// The translation vector is the first 3 elements 4-th column of the inverse of K 
Vector3d t = K.inverse()*A.col(3).head<3>();

// Affine3d is a 4x4 matrix that allows simple manipulation of affine transformations
Affine3d computeOpenGLModelViewMatrix(const Eigen::Matrix3d &Rot, const Vector3d &trans)
{
    Affine3d MV = Affine3d::Identity();
    
    MV.linear().matrix() << Rot; // set the upper-left 3x3 rotation part
    MV.translation() << trans; // set the 4-th column with the translation

    return MV;
}