Fig. 12
From: Active stereo platform: online epipolar geometry update
Rectified image using the online updated geometry. The lines represent the epipolar lines, and the red square shows the size of the image after rectification: a at the parallel focal length, b at an angle of 2°, c at an angle of 4°, d at an angle of 6°, e at an angle of 8°, and f at an angle of 10°