Triangulated points from motion_from_ essential_choose_solution

In what coordinate system does motion_from_essential_choose_solution return the triangulated points?
In Camera1 or Camera2 coordinate system?
I don’t think it can be in world coordinate because we don’t know the world coordinate of either camera

the function motion_from_essential_choose_solution should return the points in the camer2 coordinate system

check also this example: