That’s certainly true. The next thing I will do if I keep working on it will be to implement a Kalman filter to reduce shakiness. It could visually improve a l

That’s certainly true. The next thing I will do if I keep working on it will be to implement a Kalman filter to reduce shakiness. It could visually improve a lot the results since coherence of the projection between frames would make it much more attractive. And I think this is easier to achieve with a Kalman filter rather than using a more precise estimation method.