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Add segmentation code of PETRv2#204

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LielinJiang wants to merge 1 commit intoPaddlePaddle:developPaddlePaddle/Paddle3D:developfrom GlennLoveZhen0124:developGlennLoveZhen0124/Paddle3D:developCopy head branch name to clipboard

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Commits on Jan 4, 2023

• add segmentation for PETRv2

  

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