I have a hard time using the supposedly easy to use findEssentialMat, since I could not understand the basics of 5 point algorithm. There is a chronology about the algorithm here, which mentions that 8 point algorithm is better for front looking camera, but it could not apply to planar scene. Also, check out the fundamental matrix song here!
In this post, the difference between E and F is explained. It mentions that the points to construct E are normalized, in the sense that they are centered at the principle point and divided by the focal length.
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