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I have finally got my idea done and its working like a charm.

Instead of solving the Homography Matrix by myself I used image_geometry::PinholeCameraModel to project the points from the 3D Space into the 2D image plane....

If someone is interested to know more about it, follow this link:

https://xperroni.me/projecting-points-with-ros-pinhole-camera-model.html

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