expose findEssentialMat, decomposeEssentialMat and recoverPose to Python

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)
 {