import cv2
import numpy as np
points = np.array([[  71.35362447,  -73.48993604,   71.35376603,  -73.59021804],
       [ -88.90364312,  -73.61561921,  -88.90364312,  -73.61561921],
       [-167.59229029, -152.62241114, -167.59229029, -152.62241114],
       [  85.94304076, -162.11201907,   85.94304076, -162.11201907],
       [ 172.05289178, -162.39757996,  172.05289178, -162.39757996],
       [ -82.58191992,  -74.50782902,  -82.58191992,  -74.50782902],
       [-272.6442017 , -271.23413327, -272.6442017 , -271.23413327],
       [ -85.77380211, -273.03948033,  -85.77380211, -273.03948033],
       [ 103.14325005, -274.71871417,  103.24549557, -274.8227237 ],
       [ 294.19549172, -276.49581391,  294.19549172, -276.49581391],
       [-167.81015725, -168.7491632 , -167.70862579, -168.74839359],
       [ -79.41421943, -169.26774438,  -79.31358168, -169.2673819 ],
       [  98.36577158, -170.26210817,   98.36623108, -170.36341088],
       [ -74.05887631,  -77.30305365,  -74.05887631,  -77.30305365],
       [  10.260825  ,  -77.54947512,   10.16076431,  -77.64968961],
       [  64.70994691, -159.00848207,   64.8104607 , -159.00876493],
       [  48.0005312 ,  -71.95875096,   48.00062479,  -72.05898542],
       [  48.02296035, -233.95576851,   48.02296035, -233.95576851],
       [-113.99758728, -153.02210264, -113.99758728, -153.02210264],
       [ 128.95027293, -153.00278013,  128.95027293, -153.00278013],
       [-531.82226296,  193.00149743, -531.80771136,  192.4747974 ],
       [-186.99847614, -123.50523002, -187.10073587, -123.60693988],
       [ 825.53441926, -521.32613133,  825.79691647, -521.35039178],
       [ 463.62302476,  145.67892849,  463.62110312,  145.57512415],
       [ -28.49414672, -420.41603093,  -28.391098  , -420.20116664],
       [  88.09145441,  107.10489058,   88.09092315,  106.90369874],
       [ 292.93675706, -383.43338   ,  293.04229644, -383.4365222 ],
       [ 129.05236356, -477.10686816,  129.05063377, -476.99727052],
       [ -90.58267673,  207.89241318,  -91.58575871,  206.6746328 ],
       [-228.89530246,  173.56976397, -228.27218077,  172.84930809],
       [1065.99119855,  132.21384591, 1066.13767853,  132.21790114],
       [ 318.41220056, -421.45654236,  318.30185375, -421.34411053],
       [-294.17708945,   24.11502293, -294.17772815,   24.41862693],
       [ 502.3126993 ,   98.53781371,  502.09285013,   98.63878911],
       [-128.0704807 , -435.95125478, -128.06893292, -435.84322097],
       [ 129.84221632, -273.09259683,  129.9458877 , -273.30012846],
       [-476.91443292, -386.09419314, -476.69686157, -386.19301364],
       [ 575.52220458, -501.78447164,  575.53034267, -501.89910723],
       [-690.58899158,   47.85699357, -690.34568101,   47.429626  ],
       [-522.11192937, -463.88901488, -522.11192937, -463.88901488],
       [-708.64648858,   70.8426063 , -708.75428266,   69.88293808],
       [-958.54350679,  153.7748682 , -958.40575988,  153.77065468]])
focal = 1914.731689453125
threshold = 3
E, _ = cv2.findEssentialMat(points[:, :2], points[:, 2:], focal=focal, pp=(0, 0), method=cv2.USAC_MAGSAC,
                            threshold=threshold)
assert E is not None, 'unfortunately E is None'