Look for the user guide located near the bottom left corner of the HereSphere menu. It has details on how to adjust the projection to correct for distortion, alignment, and scale issues. The quick and easy way is to pause the video with the autofocus feature enabled, hold the grip button and move the thumbstick up/down to adjust the depth of the image until the depth readings match what you'd expect for reality. You can increase the "Resolution" setting in the advanced video settings to 1.75 to bump up the clarity a little more (fps might drop below 90 when the menu is open, but it should be 90 when the menu is closed).
I'd also recommend experimenting with the motion feature. You can set the motion distance as the distance from the camera to the object you want to move relative to in cm. Like if an object is 100cm away, you can set the motion distance to 100, and the player will automatically zoom the video as you move so it feels natural in relation to that object. Hold the grip button and then press A or X to reset the tracked motion position.