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Your documentation link is obsolete, you can have an access to the OpenCV documentation for all the branches here: http://docs.opencv.org/.
You are right. It has been corrected in the current documentation: findEssentialMat.
Confirmed also from the cited paper in the documentation An Efficient Solution to the Five-Point Relative Pose Problem and from a logical point of view where the essential matrix should deals with points in normalized camera frame.
