Simply project image features to BEV

[Byte247]

Hello,

how can I use your code to very simply project a single set of image features e.g. of shape [batch_size, 6, 256, width, height] to the BEV space? I tried to understand it using your code, but since you do multi scales / temporal + augmentations it was a bit confusing. So it would be super nice some one could point me to the "minimal" necessary code used for this.