I'm working on a sensor fusion application. In our vehicle, 4 radars (fixed, non-rotating radars) are placed at 4 corners of the vehicles at 45 degrees with respect to x, y and z-axes of the vehicle. For proper working of the sensor-fusion algorithm we need to offset all detected objects to the center of the vehicle.
The Radar axis are oriented as below
Radars are installed on vehicle as below:
Currently I was planning to use below formula to cater 2D rotations: x ́=x cosθ+y sinθ y ́=y cosθ-x sinθ Where ((x) ́,y ́) are the new coordinates of the same point but when its Radar axis is rotated by an angle θ.
However since z-axis of the radar is not parallel to the z-axis of vehicle I'm unable to use the above formula. Kindly advice on how can I rotate the z-axis of radar to make it parallel to vehicular z-axis.
Zaxis, then you need two (or three) successive rotations. However, I am not able to visualise the axes from the diagram given in the question. Do you have a proper top view, front view and side view of the setup rather than the 3D-ish view given currently in the question ? $\endgroup$