# Difference between essential matrix computed using findEssentialMat and computed using (findFundamentalMat + calibration matrix)

Hello,

I am new to openCV and I developed a simple program aiming at computing the rotation and the translation between 2 successive camera frames (I use only one monocular camera). After matching the feature points, I computed the essential matrix using two different ways. The first method consists of applying the function findEseentialMat to the matched points and using the calibration matrix. The second method consists of applying findFundamentalMat to the mateched points and then applying the formula: E = K^T * F * K. The obtained results of E are really different using the two methods and I cannot find an explanation to this. Would you have an explanation, please?

Thank you

adding the source code you used maybe helpful