I've been playing around with settings on my ps2 emulator, and it's crazy how good the graphics can look for that system. Basically I just set it up to render the game at a resolution of 4000x3000 (instead of the natural PS2 resolution which varied. I'm playing Xenosaga right now, which has a natural resolution of 512x448) and this is what I get.
Crazy that that's a ps2 game. Obviously some of the things (such as text) can't really be helped... but I'm still blown away.