如何使用FAST算法稳定视频

我是opencv的新手，我正在尝试用FAST算法稳定视频（http://www.edwardrosten.com/work/fast.html）。我写了一些代码，但结果不是很好，我该如何提高视频的稳定性？这是我的代码：

#include <opencv2/opencv.hpp>
#include <iostream>
#include <cassert>
#include <cmath>
#include <fstream>
using namespace cv;
using namespace std;
int main(int argc, const char * argv[]) {
Mat frame, frame_edg, prev_frame,warped;
Mat T,last_T;
vector<KeyPoint> corners,prev_corners;
vector<Point2f> corners2f,prev_corners2f;
int key = 0;
VideoCapture cap("video.mp4");//inizializzo l'oggetto VideoCapture con il mio video
if (!cap.isOpened()) {//controllo se è stato aperto
    cout<<"Impossbile aprire il video"<<endl;
    return -1;
}
double fps = cap.get(CV_CAP_PROP_FPS);//ricavo i frame per secondo
cout<<"Frame per secondo: "<<fps<<endl;
namedWindow("Sequenza Originale",CV_WINDOW_AUTOSIZE);//creo una finestra auto-dimensionante
namedWindow("Sequenza in grigio",CV_WINDOW_AUTOSIZE);
namedWindow("Warped");
while (key!=27) {
    cap >> frame;
    cvtColor(frame, frame, CV_BGR2GRAY);
    equalizeHist(frame, frame);
    vector <Point2f> prev_corners2, cur_corners2;
    vector <uchar> status;
    vector <float> err;

    imshow("Sequenza Originale", frame);
    if (!prev_frame.empty())
    {
        FAST(frame, corners, 5);//corner detection
        FAST(prev_frame, prev_corners, 5);//corner detection
        KeyPoint::convert(corners, corners2f);
        KeyPoint::convert(prev_corners, prev_corners2f);
        calcOpticalFlowPyrLK(prev_frame, frame, prev_corners2f, corners2f, status, err);//matching
        // weed out bad matches
        for(size_t i=0; i < status.size(); i++) {
            if(status[i]) {
                prev_corners2.push_back(prev_corners2f[i]);
                cur_corners2.push_back(corners2f[i]);
            }
        }
        T=estimateRigidTransform(cur_corners2, prev_corners2, false);
        // in rare cases no transform is found. We'll just use the last known good transform.
        if(T.data == NULL) {
            last_T.copyTo(T);
        }
        T.copyTo(last_T);
        warpAffine(frame, warped, T, Size(frame.cols,frame.rows));
        imshow("Warped", warped);
        prev_frame = frame.clone();
    }
    if(prev_frame.empty())
    {
        prev_frame = frame.clone();
    }
    key = waitKey(30);
}
destroyAllWindows();
return 0;
}