The main difference between erotica and pornography seems to be that erotica is closer to fine art and of a romantic nature while pornography is seen as crass and degrading.
Romantic literature is often erotic:
"...their lips rosy and swollen in delight... Tatiana's honey-colored skin was flushed pink as she collapsed against the luxuriously full pillows on the bed, her obsidian hair spilling in all directions, the hillocks of her bosom peaked with excitement. Felipe's sinewy, barrel chested form and his smouldering coffee eyes gazed upon her eagerly as his strong, cinnamon hands gently caressed her silken thighs, like two gazelles, and the fullness of her hips. His breath caught in his throat as he beheld the blossom of her loins in its nest of curls, the petals dripping with the nectar of her desire, her pearl awaiting his kiss. Felipe's bull shoulders trembled, the head of his soldier rose and peered through its hood..."