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?

Answer 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