OpenCV、OpenGL 和 Android Sensor 之间参考坐标系的变化 [英] Reference coordinate system changes between OpenCV, OpenGL and Android Sensor

问题描述

我正在使用 OpenCV、Android 和 OpenGL 进行增强现实项目.据我所知，OpenGL 中的坐标系是

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

OpenCV 坐标系为:

The OpenCV coordinate system is:

将这些设备与 android 传感器结合使用时，如何进行坐标系转换和 [R|t] 矩阵转换?有没有很好的教程或文档来解释所有这些令人困惑的东西?

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?

推荐答案

如果你看图，那么你看到，两个坐标系有相同的handednes，但是OpenCV的一个是围绕x轴旋转了pi.这可以用以下旋转矩阵表示:

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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