Rotation matrix and translation vector for image caliberation

Image calibration toolbox uses the notion of Camera matrix P as in here :

https://uk.mathworks.com/help/vision/ug/camera-calibration.html

so what I am stuck at is how can I calculate the Rotation matrix 'R' and the Translation vector 't'required for finding the camera matrix 'P' if my camera, for example, at (1, 1, 3) and looking at an object at (10, 1, 2). So I have only the 3D coordinate of the two points and I want to do the transformation of the object from world coordinate to camera coordinate. It looks silly but I can't think of a solution at the moment because of the angles of rotation (alpha, theta, Psi).