Finding most suitable Rotation and Translation from Homography decomposition

Question

I\'m trying to find the rotation and translation from Homography function. First I compute the corresponding feature points and using findHomography() I compute

Answer 1

And is the resultant translation is a scaled value, which can be used directly, unlike the Essential Matrix decomposition case?

Alas, no.

The reference for the OpenCV implemenations, Malis & Vargas, says this on p.8:

Notice that the translation is estimated up to a positive scalar factor