I am trying to do multi-sensor calibration and fusion on ROS. I have already completed Lidar-camera calibration and fusion using the Rotation and translation vectors found using opencv functions.
But I am confused in the radar-camera calibration. I have read on some papers to use homography matrix since the radar has only x and y values(z = 0). The points projected to image using homography are not accurate. Do i need to convert the radar coordinate axis to image coordinate axis before finding homography ?
Am I missing anything? Can anyone explain an accurate process so that i can project radar points to image?
Note: I have done clustering on the pointcloud and the centroids of these clusters are published for using it on projection.