The detected center point and rotation matrix are jittery

[qilinhu]

I tried to adapt the apriltag detection algorithm to my own development environment, and it can now run normally and get detection results. The camera I use is 1920*1080. When I use a QR code with a side length of 16cm for static detection within a range of 3-5 meters, I find that the center point of the continuous output is not stable (more serious in the z direction), and the rotation matrix fluctuates more, causing the heading to fluctuate more when I calculate the angle between the QR code plane and the camera. Do you have any suggestions for improving the above phenomenon:

1. Are there any relevant parameters to adjust the detection accuracy?
2. Are there any requirements for images and QR codes?
3. Is this large fluctuation normal?
   Looking forward to your reply, thank you.