title: Reference coordinate system changes between OpenCV, OpenGL and Android Sensor
body: <p>I am working with <strong>OpenCV</strong>, <strong>Android</strong> and <strong>OpenGL</strong> for an Augmented Reality project. As far as I know the coordintate system in OpenGL is</p>
  
  <p><img src="https://i.stack.imgur.com/mzEZy.jpg" alt="enter image description here"></p>
  
  <p>The OpenCV coordinate system is:</p>
  
  <p><img src="https://i.stack.imgur.com/4iFEV.png" alt="enter image description here"></p>
  
  <p>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?</p>