Definition of projection matrix not consistent with OpenCV?

[CHEN Xǐng]

Hi,
Thank you for the nice library, I was trying to calibrate 5 cameras. The result looks good in Matlab. However, I noticed that the intrinsic matrix is like this:
       2284.9      -1.0648      -937.84
  -2.8422e-14      -2285.2      -558.91
  -5.5511e-17            0           -1

The third column is negative rather than positive. Also, the camera seems to be looking z- direction instead of z+ direction, making it inconsistent with OpenCV. Is it intended, or was there an error?

Thanks!

[CHEN Xing]

Oh, this can be solved by changing the sign of the third column of intrinsic matrix and the third row of the extrinsic matrix. 

But the 3-d coordinate system is a left hand system, is it by design?

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CHEN, Xing / 陈醒