* 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>