Is the recoverPose() function in OpenCV is left-handed?

Question

I run simple test for OpenCV camera pose estimation. Having a photo and the same photo scaled up (zoomed in) I use them to detect features, calculate essential matrix and re

Answer 1

Seems the recoverPose() function returns the first camera transform relatively to the second one (which was not intuitive for me, and is not clearly stated in the documentation). With this assumption test works correctly.