diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index 176a2dfc5f..b8634bde60 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -3995,6 +3995,15 @@ optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \
     @param imageSize Size of the image used only to initialize camera intrinsic matrix.
     @param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
     @param T Output translation vector between the coordinate systems of the cameras.
+    @param rvecs Output vector of rotation vectors ( @ref Rodrigues ) estimated for each pattern view in the
+    coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
+    i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
+    description) brings the calibration pattern from the object coordinate space (in which object points are
+    specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
+    the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
+    to camera coordinate space of the first camera of the stereo pair.
+    @param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description
+    of previous output parameter ( rvecs ).
     @param flags Different flags that may be zero or a combination of the following values:
     -    @ref fisheye::CALIB_FIX_INTRINSIC  Fix K1, K2? and D1, D2? so that only R, T matrices
     are estimated.
@@ -4009,6 +4018,12 @@ optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \
     zero.
     @param criteria Termination criteria for the iterative optimization algorithm.
      */
+    CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                  InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
+                                  OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = fisheye::CALIB_FIX_INTRINSIC,
+                                  TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
+
+    /// @overload
     CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
                                   InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
                                   OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC,
diff --git a/modules/calib3d/src/fisheye.cpp b/modules/calib3d/src/fisheye.cpp
index 346638d4c1..c150d10d63 100644
--- a/modules/calib3d/src/fisheye.cpp
+++ b/modules/calib3d/src/fisheye.cpp
@@ -885,6 +885,13 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
 double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
                                     InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
                                     OutputArray R, OutputArray T, int flags, TermCriteria criteria)
+{
+    return cv::fisheye::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T, noArray(), noArray(), flags, criteria);
+}
+
+double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                    InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
+                                    OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags, TermCriteria criteria)
 {
     CV_INSTRUMENT_REGION();
 
@@ -1116,6 +1123,27 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
     if (D2.needed()) cv::Mat(intrinsicRight.k).convertTo(D2, D2.empty() ? CV_64FC1 : D2.type());
     if (R.needed()) _R.convertTo(R, R.empty() ? CV_64FC1 : R.type());
     if (T.needed()) cv::Mat(Tcur).convertTo(T, T.empty() ? CV_64FC1 : T.type());
+    if (rvecs.isMatVector())
+    {
+        if(rvecs.empty())
+            rvecs.create(n_images, 1, CV_64FC3);
+
+        if(tvecs.empty())
+            tvecs.create(n_images, 1, CV_64FC3);
+
+        for(int i = 0; i < n_images; i++ )
+        {
+            rvecs.create(3, 1, CV_64F, i, true);
+            tvecs.create(3, 1, CV_64F, i, true);
+            memcpy(rvecs.getMat(i).ptr(), rvecs1[i].val, sizeof(Vec3d));
+            memcpy(tvecs.getMat(i).ptr(), tvecs1[i].val, sizeof(Vec3d));
+        }
+    }
+    else
+    {
+        if (rvecs.needed()) cv::Mat(rvecs1).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
+        if (tvecs.needed()) cv::Mat(tvecs1).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
+    }
 
     return rms;
 }