There is also the device known as a "piano bar", which fits over the keyboard of a piano and records key presses. This effectively generates the same result as recording on a digital piano. In either case, there remains the difficult task of transforming a hodge-podge of notes into some semblance of readable musical notation of use to pianists. Unless the rhythm and phrasing is extremely simple and regular this problem is beyond a computer at present.
The first part of automatic transcribing, that of detecting all pitches played to generate a sound wave, remains intractable despite much effort over many years attempting to apply Fourier series and such. As I understand it, the main difficulty is not so much detecting that certain frequencies are present, as mp3 encoding does, but finding precisely where notes start and finish along the time line. If it were possible to reliably locate exactly where a note starts in a waveform, things would be more promising, but so far nobody has been able to do this.
Perhaps the problem will yield to an entirely new approach using techniques not lying along obvious lines. The very best human ears, for example those of people like John Farrell, can do it with amazing accuracy, so it is probably a matter of time.
As my own improvisation is probably not notatable at all, the issue has long since ceased to bother me, but any outstanding problem has a certain intellectual charm.