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You can see some illustrations at stereo_image_proc that show left and right are with respect to the cameras, not to any external reference frame such as an observer.

From OpenCV the projection matrix contains the rotation and translation as [R | t]. Therefore, the output of the stereo calibration in the camera_calibration page has the same rotation for both cameras, and shows that the right camera is translated by -28.144333 from the left camera (first row, fourth column; it's not clear to me what the units are). The translation components for the left camera (fourth column) are all zeroes because the left camera is the reference frame for the stereo pair.

You can see some illustrations at stereo_image_proc that show left and right are with respect to the cameras, not to any external reference frame such as an observer.

From OpenCV the projection matrix contains the rotation matrices are P1 and translation P2 as described in cv::stereoRectify(), [R P = [K | t][Tx 0 0]'. Therefore, the output of the stereo calibration in the camera_calibration page has the same rotation for both cameras, and shows that the right camera is translated by -28.144333 from the left camera (first row, fourth column; it's not clear to me what the units are). The translation components for the left camera (fourth column) are all zeroes because the left camera is the reference frame for the stereo pair..