[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/postprocessor.cc

@@ -0,0 +1,63 @@
+// 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/vision/perception/paddle3d/petr/postprocessor.h"
+
+#include "fastdeploy/vision/utils/utils.h"
+
+namespace fastdeploy {
+namespace vision {
+namespace perception {
+
+PetrPostprocessor::PetrPostprocessor() {}
+
+bool PetrPostprocessor::Run(const std::vector<FDTensor>& tensors,
+                             std::vector<PerceptionResult>* results) {
+  results->resize(1);
+  (*results)[0].Clear();
+  (*results)[0].Reserve(tensors[0].shape[0]);
+  if (tensors[0].dtype != FDDataType::FP32) {
+    FDERROR << "Only support post process with float32 data." << std::endl;
+    return false;
+  }
+  const float* data_0 = reinterpret_cast<const float*>(tensors[0].Data());
+  auto result = &(*results)[0];
+  for (int i = 0; i < tensors[0].shape[0] * tensors[0].shape[1]; i += 9) {
+    // item 1 ~ 3   :  box3d w, h, l
+    // item 4 ~ 6   :  box3d bottom center x, y, z
+    // item 7       :  box3d yaw angle
+    // item 8 ~ 9   :  speed x,y
+    std::vector<float> vec(data_0 + i, data_0 + i + 9);
+    result->boxes.emplace_back(std::array<float, 7>{
+        0, 0, 0, 0, vec[0], vec[1], vec[2]});
+    result->center.emplace_back(std::array<float, 3>{vec[3], vec[4], vec[5]});
+    result->yaw_angle.push_back(vec[6]);
+    result->velocity.push_back(std::array<float, 3>{vec[7], vec[8]});
+  }
+  const float* data_1 = reinterpret_cast<const float*>(tensors[1].Data());
+  for (int i = 0; i < tensors[1].shape[0]; i += 1) {
+    std::vector<float> vec(data_1 + i, data_1 + i + 1);
+    result->scores.push_back(vec[0]);
+  }
+  const long long* data_2 = reinterpret_cast<const long long*>(tensors[2].Data());
+  for (int i = 0; i < tensors[2].shape[0]; i++) {
+    std::vector<long long> vec(data_2 + i, data_2 + i + 1);
+    result->label_ids.push_back(vec[0]);
+  } 
+  return true;
+}
+
+}  // namespace perception
+}  // namespace vision
+}  // namespace fastdeploy