error C3861: 'findEssentialMat': identifier not found - Opencv 2.4.9 with visual c++ 2010

Question

in my code I have the following includes:

#include <opencv2/core/core.hpp>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/calib3d/calib3d.hpp"

and the code:

//recovering the pose and the essential matrix
Mat E, R, t, mask;
E = findEssentialMat(points2, points1, focal, pp, RANSAC, 0.999, 1.0, mask);
recoverPose(E, points2, points1, R, t, focal, pp, mask);

But with Opencv 2.4.9 with visual c++ 2010 I obtained the compile errors:

error C3861: 'findEssentialMat': identifier not found
error C3861: 'recoverPose': identifier not found

How to solve them?

Thank you!