title: 3D rendering in OpenGL: model/view/projection vs translation/rotation/camera matrices
body: <p>I want to add to a captured frame from a camera a mesh model (Let's say a cube)</p>
  
  <p>I also know all the information about where to put the cube:</p>
  
  <ol>
  <li>Translation matrix - relative to the camera</li>
  <li>Rotation matrix - relative to the camera</li>
  <li>camera calibration matrix - focal length, principal point, etc. (intrinsic parameters)</li>
  </ol>
  
  <p><strong>How can I convert this information to model/view/projection matrices?</strong></p>
  
  <p><strong>What should be the values to set to these matrices?</strong></p>
  
  <p>For example, let's say that I want to display the point [x, y, z, 1] on the screen,
  then that should be something like: [u, v, 1] = K * [R | T] * [x, y, z, 1], while:</p>
  
  <p>u, v are the coordinates in the screen (or camera capture) and:</p>
  
  <p>K, R and T are intrinsic camera parameters, rotation and translation, respectively.</p>
  
  <p><strong>How to convert K, R, T to model/view/projection matrices?</strong></p>