diff --git a/glomap/math/two_view_geometry.cc b/glomap/math/two_view_geometry.cc
index 3d9a5d1d..b7d5f5d1 100644
--- a/glomap/math/two_view_geometry.cc
+++ b/glomap/math/two_view_geometry.cc
@@ -51,7 +51,7 @@ void FundamentalFromMotionAndCameras(const Camera& camera1,
                                      Eigen::Matrix3d* F) {
   Eigen::Matrix3d E;
   EssentialFromMotion(pose, &E);
-  *F = camera1.GetK().transpose().inverse() * E * camera2.GetK().inverse();
+  *F = camera2.GetK().transpose().inverse() * E * camera1.GetK().inverse();
 }
 
 double SampsonError(const Eigen::Matrix3d& E,