[Model] Support Paddle3D PETR v2 model (#1863)

* Support PETR v2

* make petrv2 precision equal with the origin repo

* delete extra func

* modify review problem

* delete visualize

* Update README_CN.md

* Update README.md

* Update README_CN.md

* fix build problem

* delete external variable and function

---------

Co-authored-by: DefTruth <31974251+DefTruth@users.noreply.github.com>

fastdeploy/vision/perception/paddle3d/petr/petr_pybind.cc

@@ -0,0 +1,92 @@
+// Copyright (c) 2022 PaddlePaddle Authors. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "fastdeploy/pybind/main.h"
+
+namespace fastdeploy {
+void BindPetr(pybind11::module& m) {
+  pybind11::class_<vision::perception::PetrPreprocessor,
+                   vision::ProcessorManager>(m, "PetrPreprocessor")
+      .def(pybind11::init<std::string>())
+      .def("run", [](vision::perception::PetrPreprocessor& self,
+                     std::vector<pybind11::array>& im_list) {
+        std::vector<vision::FDMat> images;
+        for (size_t i = 0; i < im_list.size(); ++i) {
+          images.push_back(vision::WrapMat(PyArrayToCvMat(im_list[i])));
+        }
+        std::vector<FDTensor> outputs;
+        if (!self.Run(&images, &outputs)) {
+          throw std::runtime_error(
+              "Failed to preprocess the input data in PetrPreprocessor.");
+        }
+        for (size_t i = 0; i < outputs.size(); ++i) {
+          outputs[i].StopSharing();
+        }
+        return outputs;
+      });
+
+  pybind11::class_<vision::perception::PetrPostprocessor>(m,
+                                                           "PetrPostprocessor")
+      .def(pybind11::init<>())
+      .def("run",
+           [](vision::perception::PetrPostprocessor& self,
+              std::vector<FDTensor>& inputs) {
+             std::vector<vision::PerceptionResult> results;
+             if (!self.Run(inputs, &results)) {
+               throw std::runtime_error(
+                   "Failed to postprocess the runtime result in "
+                   "PetrPostprocessor.");
+             }
+             return results;
+           })
+      .def("run", [](vision::perception::PetrPostprocessor& self,
+                     std::vector<pybind11::array>& input_array) {
+        std::vector<vision::PerceptionResult> results;
+        std::vector<FDTensor> inputs;
+        PyArrayToTensorList(input_array, &inputs, /*share_buffer=*/true);
+        if (!self.Run(inputs, &results)) {
+          throw std::runtime_error(
+              "Failed to postprocess the runtime result in "
+              "PetrPostprocessor.");
+        }
+        return results;
+      });
+
+  pybind11::class_<vision::perception::Petr, FastDeployModel>(m, "Petr")
+      .def(pybind11::init<std::string, std::string, std::string, RuntimeOption,
+                          ModelFormat>())
+      .def("predict",
+           [](vision::perception::Petr& self, pybind11::array& data) {
+             auto mat = PyArrayToCvMat(data);
+             vision::PerceptionResult res;
+             self.Predict(mat, &res);
+             return res;
+           })
+      .def("batch_predict",
+           [](vision::perception::Petr& self,
+              std::vector<pybind11::array>& data) {
+             std::vector<cv::Mat> images;
+             for (size_t i = 0; i < data.size(); ++i) {
+               images.push_back(PyArrayToCvMat(data[i]));
+             }
+             std::vector<vision::PerceptionResult> results;
+             self.BatchPredict(images, &results);
+             return results;
+           })
+      .def_property_readonly("preprocessor",
+                             &vision::perception::Petr::GetPreprocessor)
+      .def_property_readonly("postprocessor",
+                             &vision::perception::Petr::GetPostprocessor);
+}
+}  // namespace fastdeploy