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How to obtain the estimateRigidTransform matrix using gyroscopes

I have a video feed which is taken with a moving camera and I have the corresponding gyroscope values for each frame data. I have seen a paper implementation to stabilize the video using the gyroscope data Stabilization using gyroscopes

I would like to stabilize the video, basically estimate a transormation matrix between two corresponding frames (in Translation and rotation) using this gyroscope data instead of image data(finding feature points). How can I correlate the gyroscope values in estimating this translation offsets in x and y axes atleast(for now rotation is next in my priority list)?

Anyone tried this kind of approach, any help could be really appreciated.

Thanks in advance!