1. A method comprising: determining, by a system having a processor, a plurality of homography operators defining respective mappings between pairs of coordinate spaces, wherein the coordinate spaces include a coordinate space of a first visual sensor, a virtual coordinate space, and a coordinate space of a second visual sensor, the plurality of homography operators comprising a first homography operator providing a 2D-to-2D mapping between the coordinate space of the first visual sensor and the virtual coordinate space, and a second homography operator providing a 2D-to-2D mapping between the coordinate space of the second visual sensor and the virtual coordinate space, the first visual sensor and the second visual sensor being heterogeneous sensors of different types and different resolutions; using a depth camera to capture a calibration pattern projected by a projector; determining parameters of the first and second visual sensors based on the calibration pattern captured by the depth camera; determining, by the system, the first and second homography operators using the parameters of the first and second visual sensors; and providing, by the system, calibration between the first and second visual sensors using the plurality of homography operators.