Epipolar Geometry of a forward moving camera for image registration

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Hi, I'm currently working on using epipolar geometry to find the the relationship between two images taken by the same camera which has moved mainly forward with very slight translation in the horizontal direction. I was wondering if you know opencv can cater for this now, as it was written in the Opencv O'Reilly book in Chapter 12 - OpenCV does not (yet) deal with the case of rectifying stereo images when the epipole is within the image frame