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I saw a program to calibrate a stereo system (Camera-projector pair). The output of the program is :

1. camera intrinsic matrix
2. camera distortion coefficients
3. camera extrinsic vectors (Obtained by rvecs and tvecs of cv::calibrateCamera)
4. projector intrinsic matrix
5. projector distortion coefficients
6. projector extrinsic vectors (Obtained by rvecs and tvecs of cv::calibrateCamera)

I digged into the code and there was no calling for cv::stereoCalibrate. However, the program uses those 6 outputs to scan 3D objects successfully (the source of the scanning is closed, I have just the calibration part).

How is this possible? How can I achieve rotation matrix and translation vector in order to get the essential matrix from rvecs and tvecs ? What I missing here?