expose findEssentialMat, decomposeEssentialMat and recoverPose to Python

modules/calib3d/include/opencv2/calib3d.hpp

@@ -262,16 +262,16 @@ CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
                                    double param1 = 3., double param2 = 0.99 );
 
 //! finds essential matrix from a set of corresponding 2D points using five-point algorithm
-CV_EXPORTS Mat findEssentialMat( InputArray points1, InputArray points2,
+CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
                                  double focal = 1.0, Point2d pp = Point2d(0, 0),
                                  int method = RANSAC, double prob = 0.999,
                                  double threshold = 1.0, OutputArray mask = noArray() );
 
 //! decompose essential matrix to possible rotation matrix and one translation vector
-CV_EXPORTS void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
+CV_EXPORTS_W void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
 
 //! recover relative camera pose from a set of corresponding 2D points
-CV_EXPORTS int recoverPose( InputArray E, InputArray points1, InputArray points2,
+CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
                             OutputArray R, OutputArray t,
                             double focal = 1.0, Point2d pp = Point2d(0, 0),
                             InputOutputArray mask = noArray() );

modules/python/src2/cv2.cpp

@@ -688,6 +688,23 @@ bool pyopencv_to(PyObject* obj, Point2f& p, const char* name)
     return PyArg_ParseTuple(obj, "ff", &p.x, &p.y) > 0;
 }
 
+template<>
+bool pyopencv_to(PyObject* obj, Point2d& p, const char* name)
+{
+    (void)name;
+    if(!obj || obj == Py_None)
+        return true;
+    if(!!PyComplex_CheckExact(obj))
+    {
+        Py_complex c = PyComplex_AsCComplex(obj);
+        p.x = saturate_cast<double>(c.real);
+        p.y = saturate_cast<double>(c.imag);
+        return true;
+    }
+    return PyArg_ParseTuple(obj, "dd", &p.x, &p.y) > 0;
+}
+
+
 template<>
 PyObject* pyopencv_from(const Point& p)
 {