问题
I am working with OpenCV, Android and OpenGL for an Augmented Reality project. As far as I know the coordintate system in OpenGL is
The OpenCV coordinate system is:
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?
回答1:
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
来源：https://stackoverflow.com/questions/9081900/reference-coordinate-system-changes-between-opencv-opengl-and-android-sensor