Debug and fix faulty projections on image boundaries
Description
Sometimes, vertices on the image boundaries are not taken into account when computing the final projection shape. In the image below, the projections (in red) are displayed correctly:
However occasionally, a projection on the image boundary can look like the following (note the big "triangle" on the right of the image):
How to Reproduce
Run the tracking demo from autoware_demos
after !1190 (merged) gets merged in.