I built the first virtual juggling system for the Flying Karamazov Brothers, and they toured with it for over a decade.
I wrote the code in C++ and OpenCV. At the time it required us to assemble the most sophisticated GPU cluster available; There was no such thing as a GPU cloud and even if there had been, a touring show could not rely on a theater’s network for realtime interactions. The video projector was the size of a Volkswagon Bug. I downloaded the planet surfaces from the Jet Propulsion Laboratory — they are images from NASA spacecraft fly-by’s.