Find objects pose (R and t) for a stereo set (solvePnP for stereo)

I want to find the pose (R, t) for the 3D object points pattern for each stereo set.

I could not find a stereo version of the solvePnP, which is for a single camera only.
stereoCalibrate() probably obtains internally the R and t for each stereo set, but they are not include in the output as in calibrateCamera().

||OutputArrayOfArrays |rvecs,|
||OutputArrayOfArrays |tvecs, |

Any suggestions?