Is restorePose () function in OpenCV left-handed?

Question

I am running a simple test to assess the position of an OpenCV camera. Having a photo and the same photo enlarged (enlarged), I use them to detect functions, calculate the necessary matrix and restore the camera pose.

Mat inliers;
Mat E = findEssentialMat(queryPoints, trainPoints, cameraMatrix1, cameraMatrix2,
                         FM_RANSAC, 0.9, MAX_PIXEL_OFFSET, inliers);

size_t inliersCount =
    recoverPose(E, queryGoodPoints, trainGoodPoints, cameraMatrix1, cameraMatrix2, R, T, inliers);

So, when I specify the original image as the first, and the enlarged image as the second, I get the translation T close to [0; 0; -1]. However, the second camera (enlarged) is almost closer to the object than the first. Therefore, if the Z axis goes from the image plane to the scene, the second camera should have a positive offset along the Z axis. For the result, I get the Z axis from the image plane to the camera, which among the other axes (X goes to the right, Y goes down) forms left coordinate system. It's true? Why is this result different from the described coordinate system here ?

Answer 1

OpenCV recoverPose "Nistér, D. , CVPR 2003." 2 , (. ):

x2 = R * x1 + t

, t cam2 cam1 cam2. , t [0; 0; -1].

Answer 2

, restorePose() ( ). .