Methods, systems, and computer program products for determining, without interrupting a video processing pipeline, whether currently used warping parameters are appropriate for a multi-camera system. New warping parameters may be determined, where these parameters cause the images rectified with these new parameters to have the desired geometric properties. This determination may be made without interrupting the video processing pipeline. Warping parameters may be determined, for example, such that the epipolar lines of the two cameras are horizontal and properly aligned, as defined below, and the metric 3D position of a point observed by both cameras can be determined and is accurate.