Added stereoCalibrate for Fisheye camera model

modules/calib3d/include/opencv2/calib3d/calib3d.hpp

@@ -757,7 +757,8 @@ public:
         CALIB_FIX_K1                = 16,
         CALIB_FIX_K2                = 32,
         CALIB_FIX_K3                = 64,
-        CALIB_FIX_K4                = 128
+        CALIB_FIX_K4                = 128,
+        CALIB_FIX_INTRINSIC         = 256
     };
 
     //! projects 3D points using fisheye model
@@ -802,6 +803,13 @@ public:
     static void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
         OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
         double balance = 0.0, double fov_scale = 1.0);
+
+    //! performs stereo calibaration
+    static double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                  InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2,
+                                  InputOutputArrayOfArrays rvecs1, InputOutputArrayOfArrays tvecs1,
+                                  InputOutputArrayOfArrays rvecs2, InputOutputArrayOfArrays tvecs2,
+                                  TermCriteria criteria = TermCriteria(3, 100, 1e-10));
 };
 
 }

modules/calib3d/src/fisheye.hpp

@@ -43,6 +43,18 @@ void EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays i
                            const IntrinsicParams& params, InputArray omc, InputArray Tc,
                            IntrinsicParams& errors, Vec2d& std_err, double thresh_cond, int check_cond, double& rms);
 
+void dAB(cv::InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
+
+void JRodriguesMatlab(const Mat& src, Mat& dst);
+
+void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2,
+                    Mat& om3, Mat& T3, Mat& dom3dom1, Mat& dom3dT1, Mat& dom3dom2,
+                    Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
+
+double median(const Mat& row);
+
+Vec3d median3d(InputArray m);
+
 }}
 
 #endif