Harmonize opencv and numpy coordinate conversions

## Type of Issue

OpenCV
```
0/0---X--->
|
|
Y
|
|
v
```

Numpy
```
0/0---column--->
|
|
row
|
|
v
```

We deal with this conversion in the perception stack to make things work but don't have clear types or boundaries defined which creates a minefield for bugs that you have to tread about carefully. Fix this.

Select the type of issue:
- [ ] Bug report (to report a bug)
- [x] Feature request (to request an additional feature)
- [ ] Tracker (I am just using this as a tracker)
- [ ] Refactor request
- [ ] Documentation Ask