diff --git a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/Annotator.cpp b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/Annotator.cpp
index 8cf12e4b..1268de80 100644
--- a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/Annotator.cpp
+++ b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/Annotator.cpp
@@ -226,8 +226,11 @@ void AAnnotator::ExportSkeletalMeshParameters(int FrameNumber)
 
 		// Save Actor Info (location, rotation, stencil value)
 		{
-			FVector ActorLocation = SkeletalMeshComponent->GetOwner()->GetActorLocation();
-			FRotator ActorRotation = SkeletalMeshComponent->GetOwner()->GetActorRotation();
+			FTransform ActorTransform = SkeletalMeshComponent->GetOwner()->GetActorTransform();
+			UXF_BlueprintFunctionLibrary::ConvertUnrealToOpenCV(ActorTransform);
+			UE_LOG(LogTemp, Warning, TEXT("ActorTransform: %s"), *ActorTransform.ToString());
+			FVector ActorLocation = ActorTransform.GetLocation();
+			FRotator ActorRotation = ActorTransform.Rotator();
 			int StencilValue = SkeletalMeshComponent->CustomDepthStencilValue;
 
 			TArray<float> ActorInfo;
diff --git a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/XF_BlueprintFunctionLibrary.cpp b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/XF_BlueprintFunctionLibrary.cpp
index 2880c307..17c45607 100644
--- a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/XF_BlueprintFunctionLibrary.cpp
+++ b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/XF_BlueprintFunctionLibrary.cpp
@@ -1075,3 +1075,34 @@ void UXF_BlueprintFunctionLibrary::SaveTextToFile(const FString StringToWrite, F
 		       TEXT("FileManipulation: Failed to write FString to file."));
 	}
 }
+
+void UXF_BlueprintFunctionLibrary::ConvertCoordinateSystem(FTransform& Transform, const EAxis SrcXInDstAxis, const EAxis SrcYInDstAxis, const EAxis SrcZInDstAxis)
+{
+	// Unreal Engine:
+	//   Front : X
+	//   Right : Y
+	//   Up    : Z
+	//
+	// OpenCV:
+	//   Front : Z
+	//   Right : X
+	//   Up    : Yn
+
+	FMatrix M12 = FMatrix::Identity;
+
+	M12.SetColumn(0, UnitVectorFromAxisEnum(SrcXInDstAxis));
+	M12.SetColumn(1, UnitVectorFromAxisEnum(SrcYInDstAxis));
+	M12.SetColumn(2, UnitVectorFromAxisEnum(SrcZInDstAxis));
+
+	Transform.SetFromMatrix(M12.GetTransposed() * Transform.ToMatrixWithScale() * M12);
+}
+
+void UXF_BlueprintFunctionLibrary::ConvertUnrealToOpenCV(FTransform& Transform)
+{
+	ConvertCoordinateSystem(Transform, EAxis::Y, EAxis::Zn, EAxis::X);
+}
+
+void UXF_BlueprintFunctionLibrary::ConvertOpenCVToUnreal(FTransform& Transform)
+{
+	ConvertCoordinateSystem(Transform, EAxis::Z, EAxis::X, EAxis::Yn);
+}
diff --git a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Public/XF_BlueprintFunctionLibrary.h b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Public/XF_BlueprintFunctionLibrary.h
index e7bc47c2..a1daa6af 100644
--- a/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Public/XF_BlueprintFunctionLibrary.h
+++ b/src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Public/XF_BlueprintFunctionLibrary.h
@@ -194,6 +194,39 @@ class XRFEITORIAUNREAL_API UXF_BlueprintFunctionLibrary : public UBlueprintFunct
 			FVector& CenterLoc,
 			bool& bIsHit);
 
+public:
+	/** Enumeration to specify any cartesian axis in positive or negative directions */
+	enum class EAxis
+	{
+		X, Y, Z,
+		Xn, Yn, Zn,
+	};
+
+	// These axes must match the order in which they are declared in EAxis
+	inline static const TArray<FVector> UnitVectors =
+	{
+		{  1,  0,  0 }, //  X
+		{  0,  1,  0 }, //  Y
+		{  0,  0,  1 }, //  Z
+		{ -1,  0,  0 }, // -X
+		{  0, -1,  0 }, // -Y
+		{  0,  0, -1 }, // -Z
+	};
+
+	static const FVector& UnitVectorFromAxisEnum(const EAxis Axis)
+	{
+		return UnitVectors[std::underlying_type_t<EAxis>(Axis)];
+	};
+
+	/** Converts in-place the coordinate system of the given FTransform by specifying the source axes in terms of the destination axes */
+	static void ConvertCoordinateSystem(FTransform& Transform, const EAxis DstXInSrcAxis, const EAxis DstYInSrcAxis, const EAxis DstZInSrcAxis);
+
+	/** Converts in-place an FTransform in Unreal coordinates to OpenCV coordinates */
+	static void ConvertUnrealToOpenCV(FTransform& Transform);
+
+	/** Converts in-place an FTransform in OpenCV coordinates to Unreal coordinates */
+	static void ConvertOpenCVToUnreal(FTransform& Transform);
+
 private:
 	static void SaveTextToFile(
 		const FString StringToWrite,
diff --git a/xrfeitoria/utils/converter.py b/xrfeitoria/utils/converter.py
index 8f3cf9f5..7e32d24f 100644
--- a/xrfeitoria/utils/converter.py
+++ b/xrfeitoria/utils/converter.py
@@ -191,8 +191,7 @@ def vec_amass2humandata(cls, vector: np.ndarray) -> np.ndarray:
 
 
 class ConverterUnreal:
-    UNITS_SCALE = 100.0  # 1 meter = 100 cm
-    ROTATION_OFFSET = [0, 0, -90.0]  # (x, y, z) in degrees, around z-axis (left-handed)
+    units_scale = 100.0  # 1 meter = 100 cm
 
     @classmethod
     def rotation_camera_from_ue(cls, euler, degrees=True) -> np.ndarray:
@@ -210,7 +209,7 @@ def rotation_camera_from_ue(cls, euler, degrees=True) -> np.ndarray:
         return rotation_matrix([x, y, z], order='xyz', degrees=degrees)
 
     @classmethod
-    def rotation_from_ue(cls, euler, offset=ROTATION_OFFSET, degrees=True) -> np.ndarray:
+    def rotation_from_ue(cls, euler, degrees=True) -> np.ndarray:
         """Convert from ue camera space to opencv camera space convention.
 
         Args:
@@ -221,8 +220,12 @@ def rotation_from_ue(cls, euler, offset=ROTATION_OFFSET, degrees=True) -> np.nda
         Returns:
             np.ndarray: Rotation matrix 3x3.
         """
-        _euler = np.array(euler) + np.array(offset)
-        return rotation_matrix(_euler, 'zxy', degrees=degrees)
+        from scipy.spatial.transform import Rotation
+
+        rot = Rotation.from_euler('xyz', euler, degrees=True).as_rotvec()
+        rot[2] *= -1
+        rot = Rotation.from_euler('xyz', [0, 90.0, 0.0], degrees=degrees) * Rotation.from_rotvec(rot)
+        return rot.as_matrix().T
 
     @classmethod
     def location_from_ue(cls, vector: np.ndarray) -> np.ndarray:
@@ -239,9 +242,9 @@ def location_from_ue(cls, vector: np.ndarray) -> np.ndarray:
         if isinstance(vector, list):
             vector = np.array(vector)
         if vector.shape == (3,):
-            ret = np.array([vector[1], -vector[2], vector[0]]) / cls.UNITS_SCALE
+            ret = np.array([vector[1], -vector[2], vector[0]]) / cls.units_scale
         elif vector.ndim >= 2 and vector.shape[-1] == 3:
-            ret = np.stack([vector[..., 1], -vector[..., 2], vector[..., 0]], axis=-1) / cls.UNITS_SCALE
+            ret = np.stack([vector[..., 1], -vector[..., 2], vector[..., 0]], axis=-1) / cls.units_scale
         return ret