Reference coordinate system changes between OpenCV, OpenGL and Android Sensor

opengl-es opencv rotation android-sensors coordinate-transformation
Jav_Rock picture Jav_Rock · Jan 31, 2012 · Viewed 11.4k times · Source

I am working with OpenCV, Android and OpenGL for an Augmented Reality project. As far as I know the coordintate system in OpenGL is

enter image description here

The OpenCV coordinate system is:

enter image description here

When combining these devices with android sensors how can I do the coordinate system conversions and [R|t] matrix conversion? Is there a good tutorial or documentation were all of this conffusing stuff is explained?

Answer

datenwolf picture datenwolf · Jan 31, 2012

If you look at the picture, then you see, that the both coordinate systems have the same handednes, but the OpenCV one is rotated by pi around the x axis. This can be represented by the following rotation matrix:

 1  0  0
 0 -1  0
 0  0 -1

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