Reference coordinate system changes between OpenCV, OpenGL and Android Sensor

Question

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?

Solution

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

Comments

[Jav_Rock]

Yes, for changing between openCV and OpenGL an inversion about y and z axis is needed. The biggest problem comes with android sensors...

[Stefan]

It is not a rotation. The coordinate system (y-axis) is flipped at the x-axis. The z-axis is unaffected.

[datenwolf]

@Stefan: Look again: In the pictures OP pasted into his answer the Z axis has been flipped, too. According to those pictures (OpenGL Z axis comes out of the screen, OpenCV Z axis goes into the screen) it's a rotation by 180° along the X axis.