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Stereocalibration coordinate origin question


I have a question about the origin of the stereocalibration. I have a pair of cameras calibrated using cv::stereocalibrate. I wish to recover 3D physical coordinates of specific points in the image using cv::triangulatepoints.

The question is where is the origin and the axis orientation of the recovered (X,Y,Z) physical coordiantes? I didn't find information in opencv documentation.

In "Learning OpenCV: Computer Vision with the Opencv" by Gary Bradski, Adrian Kaehler, the authors defined the origin to be center of projection of the left camera, with X positive towards right camera, Y downwards and Z away from camera. Is this right?