包含客户端和服务器端两个程序，实现了移动服务机器人人机耦合控制，主要由视频通信、OpenGL三维建模、激光雷达三维图像、环境几何地图等分模块。-Client and server-side includes two procedures, the mobile service robots human-machine coupling control, mainly by video communications, OpenGL three-dimensional modeling, three

obj文件解析出来的深度图和纹理图，可以用于openGL的纹理贴图处理-obj file parsing out the depth map and texture map that can be used for texture mapping processing openGL