But from the description of the function stereoCalibrate() (OpenCV: Camera Calibration and 3D Reconstruction) it is written:
“R: […] In more technical terms, the tuple of R and T performs a change of basis from the first camera’s coordinate system to the second camera’s coordinate system […]” and my assumption is that cam1 (the left one) is the first camera and cam2 is the second camera (the right one). Im passing the found corners in image1 as imagePoints1 and the found corners in image2 as imagePoints2, so no missmatch.