BEVFormer inference on TensorRT, including INT8 Quantization and Custom TensorRT Plugins (float/half/half2/int8).

Run BEVFormer (ECCV 2022) on PyTorch 2.8 + Blackwell B200; SimpleDDP fix for mmcv 1.x on PyTorch 2.x + Tensor Core analysis

This is the annotated version of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

BEVFormer 从零复现：环境、nuScenes-mini、官方权重、三帧时序推理、公式推导、易错点与自测