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TX2移植第一版，功能：手/自动控制加注，彩/深度图显示，彩/深度图落点，落点无杂点，QT界面开发，横向控制（已完成，但未实际实验），纵向控制（完成，未实验）。
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- C++ 77.8%
- C 21.5%
- CMake 0.7%