dataset labels to image projection

[Northengard]

Hello.
Firstly I'd like to thank you for sharing your work with dataset.
But it seems that released data is not complete: there is an instruction how to get raw images for provided labels (its clear enough) but information about relations between image and annotations planes is missed.
Proposed in dataset labels are called "bird eye view" (BEV) labels, so homography between image plane and labels plane should exist.

Is there a homography matrix or any principal points (f. ex. to use cv2.findHomography) or anything else that define relations between labels and images?
Could you, please, provide transformation algorithm from labels plane to image plane?

There is a gif in readme where the annotations are projected into the images. Is there a way to reproduce this for the whole dataset?

Best regards.