radar camera calibration and radar axis issues.

[deepumdev]

Hi,
I am using TI mmwave radar AWR1642 in short range. Through data collection, I have observed that the radar provides detection up-to 10m range in depth(X axis). Another feature i observed is that the axis of radar is aligned so that the origin is at centre and x axis increases from zero to max, y axis ranges from positive max to negative max. While calibrating radar and camera

1. should i shift the origin towards the side?
2. what is the maximum detection range horizontally(Y axis)?

Note: On the image below, Image from, it shows that horizontal range is -8.5 to 8.5m that is approx 17m. Is this valid ?

Thanks in advance.
Deepak