Fast-BEV with CenterPoint head

[Byte247]

Hello,

I am trying to use M2BEV / Fast-BEV or at least the m2BEV projection step for image features to BEV. This does seem to work and I do get everything in the correct shapes, but I am limited to using the CenterPoint detection head. Now my training loss is not decreasing after the first steps and I am wondering if its possible to use the CenterPoint head with your architecture or if a learned assignment of detections -> GT is required as in your head?