[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>

examples/vision/perception/paddle3d/petr/cpp/README_CN.md

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+[English](README.md) | 简体中文
+# Petr C++部署示例
+
+本目录下提供 `infer.cc` 快速完成 Petr 在 CPU/GPU 上部署的示例。
+
+在部署前，需确认以下两个步骤
+
+- 1. 软硬件环境满足要求，参考[FastDeploy环境要求](../../../../../docs/cn/build_and_install/download_prebuilt_libraries.md)  
+- 2. 根据开发环境，下载预编译部署库和samples代码，参考[FastDeploy预编译库](../../../../../docs/cn/build_and_install/download_prebuilt_libraries.md)
+
+以Linux上 CPU 推理为例，在本目录执行如下命令即可完成编译测试，支持此模型需保证 FastDeploy 版本1.0.6以上(x.x.x>=1.0.6)
+
+```bash
+mkdir build
+cd build
+# 下载FastDeploy预编译库，用户可在上文提到的`FastDeploy预编译库`中自行选择合适的版本使用
+wget https://bj.bcebos.com/fastdeploy/release/cpp/fastdeploy-linux-x64-x.x.x.tgz
+tar xvf fastdeploy-linux-x64-x.x.x.tgz
+cmake .. -DFASTDEPLOY_INSTALL_DIR=${PWD}/fastdeploy-linux-x64-x.x.x
+make -j
+
+wget https://bj.bcebos.com/fastdeploy/models/petr.tar.gz
+tar -xf petr.tar.gz
+wget https://bj.bcebos.com/fastdeploy/models/petr_test.png
+
+# CPU推理
+./infer_demo petr petr_test.png 0
+# GPU推理
+./infer_demo petr petr_test.png 1
+
+```
+
+以上命令只适用于Linux或MacOS, Windows下SDK的使用方式请参考:  
+- [如何在Windows中使用FastDeploy C++ SDK](../../../../../docs/cn/faq/use_sdk_on_windows.md)
+
+## Petr C++ 接口
+
+### Petr 类
+
+```c++
+fastdeploy::vision::perception::Petr(
+        const string& model_file,
+        const string& params_file,
+        const string& config_file,
+        const RuntimeOption& runtime_option = RuntimeOption(),
+        const ModelFormat& model_format = ModelFormat::PADDLE)
+```
+
+Petr模型加载和初始化。
+
+**参数**
+
+> * **model_file**(str): 模型文件路径
+> * **params_file**(str): 参数文件路径
+> * **config_file**(str): 配置文件路径
+> * **runtime_option**(RuntimeOption): 后端推理配置，默认为None，即采用默认配置
+> * **model_format**(ModelFormat): 模型格式，默认为Paddle格式
+
+#### Predict函数
+
+> ```c++
+> Petr::Predict(cv::Mat* im, PerceptionResult* result)
+> ```
+>
+> 模型预测接口，输入图像直接输出检测结果。
+>
+> **参数**
+>
+> > * **im**: 输入图像，注意需为HWC，BGR格式
+> > * **result**: 检测结果，包括检测框，各个框的置信度, PerceptionResult 说明参考[视觉模型预测结果](../../../../../docs/api/vision_results/)
+
+
+- [模型介绍](../../)
+- [Python部署](../python)
+- [视觉模型预测结果](../../../../../docs/api/vision_results/)
+- [如何切换模型推理后端引擎](../../../../../docs/cn/faq/how_to_change_backend.md)