Transformation of bounding boxes from 3D to 2D

[mANDm1412]

Hi, I have a question regarding the transformation of bounding boxes from 3D to 2D in branch 2021. When attempting to generate 2D traffic light/stop sign bounding boxes, I encountered an issue where the bounding box is incorrectly positioned. The only change I made was to the sensor size (from 400 x 300 to 900 x 256). It seems that something in _get_2d_bb_baseline or _baseline_to_box isn't functioning correctly. Here's a photo of this (see the red box):

I would really appreciate any help you can give to solve this.