Tango: added multi-texturing support (#189)

app/android/jni/RTABMapApp.cpp

@@ -1873,14 +1873,15 @@ double sqr(uchar v)
 	return double(v)*double(v);
 }
 
-cv::Mat RTABMapApp::mergeTextures(
+std::vector<cv::Mat> RTABMapApp::mergeTextures(
 		pcl::TextureMesh & mesh,
 		int textureSize,
+		int textureCount,
 		const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels) const
 {
 	UASSERT(textureSize> 0);
-	LOGD("textureSize = %d materials=%d", textureSize, mesh.tex_materials.size());
-	cv::Mat globalTexture;
+	LOGD("textureSize = %d textureCount=%d materials=%d", textureSize, textureCount, mesh.tex_materials.size());
+	std::vector<cv::Mat> globalTextures;
 	if(mesh.tex_materials.size() >= 1)
 	{
 		std::vector<int> textures(mesh.tex_materials.size(), -1);
@@ -1914,14 +1915,19 @@ cv::Mat RTABMapApp::mergeTextures(
 		{
 			float scale = 0.0f;
 			std::vector<bool> materialsKept;
-			rtabmap::util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, 1, scale, &materialsKept);
+			rtabmap::util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, textureCount, scale, &materialsKept);
 			LOGD("scale=%f materials=%d", scale, (int)mesh.tex_materials.size());
-			if(scale && mesh.tex_materials.size()==1)
+			if(scale && mesh.tex_materials.size())
 			{
+				int materials = (int)mesh.tex_materials.size();
 				int cols = float(textureSize)/(scale*imageSize.width);
+				int rows = float(textureSize)/(scale*imageSize.height);
 
-				globalTexture = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
-				cv::Mat globalTextureMask = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
+				globalTextures.resize(materials);
+				for(int i=0; i<materials; ++i)
+				{
+					globalTextures[i] = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
+				}
 
 				// make a blank texture
 				cv::Mat emptyImage(int(imageSize.height*scale), int(imageSize.width*scale), imageType, cv::Scalar::all(255));
@@ -1933,8 +1939,11 @@ cv::Mat RTABMapApp::mergeTextures(
 				{
 					if(materialsKept.at(i))
 					{
+						int indexMaterial = oi / (cols*rows);
+						UASSERT(indexMaterial < materials);
+
 						int u = oi%cols * emptyImage.cols;
-						int v = oi/cols * emptyImage.rows;
+						int v = ((oi/cols) % rows ) * emptyImage.rows;
 						UASSERT(u < textureSize-emptyImage.cols);
 						UASSERT(v < textureSize-emptyImage.rows);
 						newCamIndex[i] = oi;
@@ -1967,13 +1976,12 @@ cv::Mat RTABMapApp::mergeTextures(
 								cv::cvtColor(resizedImage,resizedImageColor,CV_GRAY2RGB);
 								resizedImage = resizedImageColor;
 							}
-							UASSERT(resizedImage.type() == globalTexture.type());
-							resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
-							emptyImageMask.copyTo(globalTextureMask(cv::Rect(u, v, emptyImageMask.cols, emptyImageMask.rows)));
+							UASSERT(resizedImage.type() == globalTextures[indexMaterial].type());
+							resizedImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
 						}
 						else
 						{
-							emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
+							emptyImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
 						}
 						++oi;
 					}
@@ -1988,6 +1996,7 @@ cv::Mat RTABMapApp::mergeTextures(
 
 				if(vertexToPixels.size())
 				{
+					LOGD("gain compensation");
 					// gain compensation
 					const int num_images = static_cast<int>(oi);
 					cv::Mat_<int> N(num_images, num_images); N.setTo(0);
@@ -2019,13 +2028,15 @@ cv::Mat RTABMapApp::mergeTextures(
 										N(i, j) += 1;
 										N(j, i) += 1;
 
+										int indexMaterial = i / (cols*rows);
+
 										// uv in globalTexture
 										int ui = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
 										int vi = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
 										int uj = jter->second.x*emptyImage.cols + imageOrigin[jter->first].x;
 										int vj = (1.0-jter->second.y)*emptyImage.rows + imageOrigin[jter->first].y;
-										cv::Vec3b * pt1 = globalTexture.ptr<cv::Vec3b>(vi,ui);
-										cv::Vec3b * pt2 = globalTexture.ptr<cv::Vec3b>(vj,uj);
+										cv::Vec3b * pt1 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vi,ui);
+										cv::Vec3b * pt2 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vj,uj);
 
 										I(i, j) += std::sqrt(static_cast<double>(sqr(pt1->val[0]) + sqr(pt1->val[1]) + sqr(pt1->val[2])));
 										I(j, i) += std::sqrt(static_cast<double>(sqr(pt2->val[0]) + sqr(pt2->val[1]) + sqr(pt2->val[2])));
@@ -2044,9 +2055,16 @@ cv::Mat RTABMapApp::mergeTextures(
 
 					for(int i=0; i<num_images; ++i)
 					{
-						for(int j=i+1; j<num_images; ++j)
+						for(int j=i; j<num_images; ++j)
 						{
-							if(N(i, j))
+							if(i == j)
+							{
+								if(N(i,j) == 0)
+								{
+									N(i,j) = 1;
+								}
+							}
+							else if(N(i, j))
 							{
 								I(i, j) /= N(i, j);
 								I(j, i) /= N(j, i);
@@ -2113,7 +2131,8 @@ cv::Mat RTABMapApp::mergeTextures(
 							int u = imageOrigin[t].x;
 							int v = imageOrigin[t].y;
 
-							cv::Mat roi = globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
+							int indexMaterial = newCamIndex[t] / (cols*rows);
+							cv::Mat roi = globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
 
 							std::vector<cv::Mat> channels;
 							cv::split(roi, channels);
@@ -2127,6 +2146,7 @@ cv::Mat RTABMapApp::mergeTextures(
 					progressionStatus_.increment();
 
 					// blending BGR
+					LOGD("blending");
 					int decimation = 0;
 
 					// determinate decimation to apply
@@ -2168,7 +2188,13 @@ cv::Mat RTABMapApp::mergeTextures(
 
 					if(decimation>0)
 					{
-						cv::Mat blendGains(globalTexture.rows/decimation, globalTexture.cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
+						LOGD("blending decimation=%d", decimation);
+						std::vector<cv::Mat> blendGains(materials);
+						for(int i=0; i<materials;++i)
+						{
+							blendGains[i] = cv::Mat(globalTextures[i].rows/decimation, globalTextures[i].cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
+						}
+
 						for(unsigned int p=0; p<vertexToPixels.size(); ++p)
 						{
 							if(vertexToPixels[p].size() > 1)
@@ -2191,7 +2217,8 @@ cv::Mat RTABMapApp::mergeTextures(
 										{
 											weight = 0.0f;
 										}
-										cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
+										int indexMaterial = newCamIndex[iter->first] / (cols*rows);
+										cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
 										gainsB[k] = static_cast<double>(pt->val[0]) * weight;
 										gainsG[k] = static_cast<double>(pt->val[1]) * weight;
 										gainsR[k] = static_cast<double>(pt->val[2]) * weight;
@@ -2215,11 +2242,12 @@ cv::Mat RTABMapApp::mergeTextures(
 										{
 											int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
 											int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
-											cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
+											int indexMaterial = newCamIndex[iter->first] / (cols*rows);
+											cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
 											float gB = targetColor[0]/(pt->val[0]==0?1.0f:pt->val[0]);
 											float gG = targetColor[1]/(pt->val[1]==0?1.0f:pt->val[1]);
 											float gR = targetColor[2]/(pt->val[2]==0?1.0f:pt->val[2]);
-											cv::Vec3f * ptr = blendGains.ptr<cv::Vec3f>(v/decimation, u/decimation);
+											cv::Vec3f * ptr = blendGains[indexMaterial].ptr<cv::Vec3f>(v/decimation, u/decimation);
 											ptr->val[0] = (gB>1.3f)?1.3f:(gB<0.7f)?0.7f:gB;
 											ptr->val[1] = (gG>1.3f)?1.3f:(gG<0.7f)?0.7f:gG;
 											ptr->val[2] = (gR>1.3f)?1.3f:(gR<0.7f)?0.7f:gR;
@@ -2229,11 +2257,15 @@ cv::Mat RTABMapApp::mergeTextures(
 							}
 						}
 
-						cv::Mat dst;
-						cv::blur(blendGains, dst, cv::Size(3,3));
-						cv::resize(dst, blendGains, globalTexture.size(), 0, 0, cv::INTER_LINEAR);
+						LOGD("blending multiply");
+						for(int i=0; i<materials; ++i)
+						{
+							cv::Mat dst;
+							cv::blur(blendGains[i], dst, cv::Size(3,3));
+							cv::resize(dst, blendGains[i], globalTextures[i].size(), 0, 0, cv::INTER_LINEAR);
 
-						cv::multiply(globalTexture, blendGains, globalTexture, 1.0, CV_8UC3);
+							cv::multiply(globalTextures[i], blendGains[i], globalTextures[i], 1.0, CV_8UC3);
+						}
 					}
 					progressionStatus_.increment();
 				}
@@ -2252,7 +2284,7 @@ cv::Mat RTABMapApp::mergeTextures(
 			UERROR("No image size set!");
 		}
 	}
-	return globalTexture;
+	return globalTextures;
 }
 
 void RTABMapApp::cancelProcessing()
@@ -2267,6 +2299,7 @@ bool RTABMapApp::exportMesh(
 		bool regenerateCloud,
 		bool meshing,
 		int textureSize,
+		int textureCount,
 		int normalK,
 		bool optimized,
 		float optimizedVoxelSize,
@@ -2336,7 +2369,7 @@ bool RTABMapApp::exportMesh(
 			pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
 			pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
 			std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
-			cv::Mat globalTexture;
+			std::vector<cv::Mat> globalTextures;
 			int totalPolygons = 0;
 			{
 				if(optimized)
@@ -3046,7 +3079,7 @@ bool RTABMapApp::exportMesh(
 				if(textureSize>0 && totalPolygons && textureMesh->tex_materials.size())
 				{
 					LOGI("Merging %d textures...", (int)textureMesh->tex_materials.size());
-					globalTexture = mergeTextures(*textureMesh, textureSize, vertexToPixels);
+					globalTextures = mergeTextures(*textureMesh, textureSize, textureCount, vertexToPixels);
 
 					if(progressionStatus_.isCanceled())
 					{
@@ -3058,18 +3091,28 @@ bool RTABMapApp::exportMesh(
 						return false;
 					}
 
+					LOGD("Saving texture(s) (%d)", (int)globalTextures.size());
 					std::string baseName = uSplit(UFile::getName(filePath), '.').front();
 					std::string textureDirectory = UDirectory::getDir(filePath);
-					std::string fullPath = textureDirectory+UDirectory::separator()+baseName+".jpg";
-					textureMesh->tex_materials[0].tex_file = baseName+".jpg";
-					LOGI("Saving texture to %s.", fullPath.c_str());
-					if(!cv::imwrite(fullPath, globalTexture))
+					UASSERT(textureMesh->tex_materials.size() == globalTextures.size());
+					for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
 					{
-						LOGI("Failed saving %s!", fullPath.c_str());
-					}
-					else
-					{
-						LOGI("Saved %s (%d bytes).", fullPath.c_str(), globalTexture.total()*globalTexture.channels());
+						std::string baseNameNum = baseName;
+						if(textureMesh->tex_materials.size()>1)
+						{
+							baseNameNum+=uNumber2Str(i);
+						}
+						std::string fullPath = textureDirectory+UDirectory::separator()+baseNameNum+".jpg";
+						textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
+						LOGI("Saving texture to %s.", fullPath.c_str());
+						if(!cv::imwrite(fullPath, globalTextures[i]))
+						{
+							LOGI("Failed saving %s!", fullPath.c_str());
+						}
+						else
+						{
+							LOGI("Saved %s (%d bytes).", fullPath.c_str(), globalTextures[i].total()*globalTextures[i].channels());
+						}
 					}
 				}
 				if(progressionStatus_.isCanceled())
@@ -3108,14 +3151,54 @@ bool RTABMapApp::exportMesh(
 				}
 				else if(textureMesh->tex_materials.size())
 				{
-					UASSERT(textureMesh->tex_polygons.size() && (int)textureMesh->tex_polygons[0].size() == totalPolygons);
 					LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
 					success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
 					if(success)
 					{
 						LOGI("Saved obj to %s!", filePath.c_str());
 						exportedMesh_ = textureMesh;
-						exportedTexture_ = globalTexture;
+						if(globalTextures.size() == 1)
+						{
+							exportedTexture_ = globalTextures[0];
+						}
+						else if(globalTextures.size() > 1)
+						{
+							// Visualization doesn't support more than one material, so concatenate to 1
+							std::vector<bool> materialsKept;
+							float scale = 0.0f;
+							cv::Size imageSize = globalTextures[0].size();
+							int imageType = CV_8UC3;
+							rtabmap::util3d::concatenateTextureMaterials(*exportedMesh_, imageSize, textureSize, 1, scale, &materialsKept);
+							if(scale && exportedMesh_->tex_materials.size() == 1)
+							{
+								int cols = float(textureSize)/(scale*imageSize.width);
+								int rows = float(textureSize)/(scale*imageSize.height);
+
+								exportedTexture_ = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
+
+								// make a blank texture
+								cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
+								int oi=0;
+								for(int i=0; i<(int)globalTextures.size(); ++i)
+								{
+									if(materialsKept.at(i))
+									{
+										int u = oi%cols * resizedImageSize.width;
+										int v = ((oi/cols) % rows ) * resizedImageSize.height;
+										UASSERT(u < textureSize-resizedImageSize.width);
+										UASSERT(v < textureSize-resizedImageSize.height);
+
+										cv::Mat resizedImage;
+										cv::resize(globalTextures[i], resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
+
+										UASSERT(resizedImage.type() == exportedTexture_.type());
+										resizedImage.copyTo(exportedTexture_(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
+
+										++oi;
+									}
+								}
+							}
+						}
 					}
 					else
 					{

app/android/jni/RTABMapApp.h

@@ -146,8 +146,9 @@ class RTABMapApp : public UEventsHandler {
 
   void resetMapping();
   void save(const std::string & databasePath);
-  cv::Mat mergeTextures(pcl::TextureMesh & mesh,
+  std::vector<cv::Mat> mergeTextures(pcl::TextureMesh & mesh,
 		  int textureSize,
+		  int textureCount,
 		  const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels) const;
   void cancelProcessing();
   bool exportMesh(
@@ -156,6 +157,7 @@ class RTABMapApp : public UEventsHandler {
 		  bool regenerateCloud,
 		  bool meshing,
 		  int textureSize,
+		  int textureCount,
 		  int normalK,
 		  bool optimized,
 		  float optimizedVoxelSize,

app/android/jni/jni_interface.cpp

@@ -335,6 +335,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 		bool regenerateCloud,
 		bool meshing,
 		int textureSize,
+		int textureCount,
 		int normalK,
 		bool optimized,
 		float optimizedVoxelSize,
@@ -355,6 +356,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 			regenerateCloud,
 			meshing,
 			textureSize,
+			textureCount,
 			normalK,
 			optimized,
 			optimizedVoxelSize,

app/android/res/layout/activity_settings.xml

@@ -227,6 +227,14 @@
 	   			android:entryValues="@array/pref_texture_size_values"
 	   			android:defaultValue="@string/pref_default_texture_size"/>
 	        
+	        <ListPreference 
+	            android:key="@string/pref_key_texture_count"
+	    		android:title="@string/pref_title_texture_count"
+	    		android:summary="@string/pref_summary_texture_count"
+	   			android:entries="@array/pref_texture_count_keys"
+	   			android:entryValues="@array/pref_texture_count_values"
+	   			android:defaultValue="@string/pref_default_texture_count"/>
+	        
 	        <ListPreference 
 	            android:key="@string/pref_key_normal_k"
 	    		android:title="@string/pref_title_normal_k"

app/android/res/values/strings.xml

@@ -109,6 +109,8 @@
     <string name="pref_default_cloud_voxel">0.01</string>
     <string name="pref_key_texture_size">pref_key_texture_size</string>
     <string name="pref_default_texture_size">4096</string>
+    <string name="pref_key_texture_count">pref_key_texture_count</string>
+    <string name="pref_default_texture_count">1</string>
     <string name="pref_key_normal_k">pref_key_normal_k</string>
     <string name="pref_default_normal_k">18</string>
     <string name="pref_key_max_texture_distance">pref_key_max_texture_distance</string>
@@ -565,6 +567,8 @@
     <string name="pref_summary_cloud_voxel">If you don\'t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
     <string name="pref_title_texture_size">Texture Size</string>
     <string name="pref_summary_texture_size">If the map is large, you may want to increase this to maximize the texture resolution.</string>
+    <string name="pref_title_texture_count">Maximum Output Textures</string>
+    <string name="pref_summary_texture_count">Note that all textures are still merged into one for visualization, but exported in multiple files.</string>
     <string name="pref_title_normal_k">Normal K</string>
     <string name="pref_summary_normal_k">K-nearest neighbors used for normal computation when a mesh is created.</string>
     <string name="pref_title_max_texture_distance">Max Texture Distance</string>
@@ -606,6 +610,26 @@
         <item>"2048"</item>
         <item>"1024"</item>
     </string-array>
+    <string-array name="pref_texture_count_keys">
+        <item>"8"</item>
+        <item>"7"</item>
+        <item>"6"</item>
+        <item>"5"</item>
+        <item>"4"</item>
+        <item>"3"</item>
+        <item>"2"</item>
+        <item>"1"</item>
+    </string-array>
+    <string-array name="pref_texture_count_values">
+        <item>"8"</item>
+        <item>"7"</item>
+        <item>"6"</item>
+        <item>"5"</item>
+        <item>"4"</item>
+        <item>"3"</item>
+        <item>"2"</item>
+        <item>"1"</item>
+    </string-array>
     <string-array name="pref_normal_k_values">
         <item>"30"</item>
         <item>"24"</item>

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -109,7 +109,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	public static final String EXTRA_VALUE_ADF = "ADF_LOAD_SAVE_PERMISSION";
 	
 	public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
-	public static final String RTABMAP_TMP_DIR = "tmp/";
+	public static final String RTABMAP_TMP_DIR = "tmp";
 	public static final String RTABMAP_TMP_FILENAME = "map";
 	public static final String RTABMAP_SDCARD_PATH = "/sdcard/";
 	public static final String RTABMAP_EXPORT_DIR = "Export/";
@@ -627,6 +627,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			break;
 		case R.id.close_visualization_button:
 			updateState(State.STATE_IDLE);
+			RTABMapLib.postExportation(false);
 			break;
 		case R.id.button_saveOnDevice:
 			saveOnDevice();
@@ -1094,7 +1095,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 
 	private RTABMapActivity getActivity() {return this;}
 
-	private String[] loadFileList(String directory) {
+	private String[] loadFileList(String directory, final boolean databasesOnly) {
 		File path = new File(directory); 
 		String fileList[];
 		try {
@@ -1109,7 +1110,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 				@Override
 				public boolean accept(File dir, String filename) {
 					File sel = new File(dir, filename);
-					return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
+					if(databasesOnly)
+					{
+						return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
+					}
+					else
+					{
+						return sel.isFile();
+					}
 				}
 
 			};
@@ -1242,7 +1250,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mItemModes.setEnabled(true);
 			mButtonPause.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
 			mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
-			RTABMapLib.postExportation(false);
 			break;
 		}
 		mButtonFirst.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
@@ -1713,7 +1720,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		}
 		else if(itemId == R.id.open)
 		{
-			final String[] files = loadFileList(mWorkingDirectory);
+			final String[] files = loadFileList(mWorkingDirectory, true);
 			if(files.length > 0)
 			{
 				String[] filesWithSize = new String[files.length];
@@ -1774,6 +1781,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
 		final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
 		final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
+		final int textureCount = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_count), getString(R.string.pref_default_texture_count)));
 		final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
 		final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
 		final int minTextureClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_texture_cluster_size), getString(R.string.pref_default_min_texture_cluster_size)));
@@ -1793,10 +1801,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		
 		mExportProgressDialog.show();
 		updateState(State.STATE_PROCESSING);
-		final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + extension;
+		final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + extension;
 	
 		File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
 		tmpDir.mkdirs();
+		String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
+		if(!DISABLE_LOG) Log.i(TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMAP_TMP_DIR));
+		for(int i=0; i<fileNames.length; ++i)
+		{
+			File f = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]);
+			if(f.delete())
+			{
+				if(!DISABLE_LOG) Log.i(TAG, String.format("Deleted \"%s\"", f.getPath()));
+			}
+			else
+			{
+				if(!DISABLE_LOG) Log.i(TAG, String.format("Failed deleting \"%s\"", f.getPath()));
+			}
+		}
 		File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
 		exportDir.mkdirs();
 		
@@ -1811,6 +1833,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 						regenerateCloud,
 						meshing,
 						textureSize,
+						textureCount,
 						normalK,
 						optimized,
 						optimizedVoxelSize,
@@ -2043,22 +2066,32 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
 			pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
 
-			String[] filesToZip = new String[3];
-			filesToZip[0] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".obj";
-			filesToZip[1] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".mtl";
-			filesToZip[2] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".jpg";
-
-			File toZIPFile = new File(zipOutput);
-			toZIPFile.delete();			
-			
-			try
+			String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
+			if(fileNames.length > 0)
 			{
-				Util.zip(filesToZip, zipOutput);
-				mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
+				String[] filesToZip = new String[fileNames.length];
+				for(int i=0; i<fileNames.length; ++i)
+				{
+					filesToZip[i] = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i];
+				}
+	
+				File toZIPFile = new File(zipOutput);
+				toZIPFile.delete();			
+				
+				try
+				{
+					Util.zip(filesToZip, zipOutput);
+					mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
+				}
+				catch(IOException e)
+				{
+					mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
+					success = false;
+				}
 			}
-			catch(IOException e)
+			else
 			{
-				mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
+				mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!?", pathHuman), mToast.LENGTH_LONG).show();
 				success = false;
 			}
 		}
@@ -2069,7 +2102,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			
 			File toPLYFile = new File(path);
 			toPLYFile.delete();
-			File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".ply");
+			File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + ".ply");
 			
 			try
 			{

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -97,6 +97,7 @@ public class RTABMapLib
     		boolean regenerateCloud,
     		boolean meshing,
     		int textureSize,
+    		int textureCount,
     		int normalK,
     		boolean optimized,
     		float optimizedVoxelSize,

app/android/src/com/introlab/rtabmap/SettingsActivity.java

@@ -206,6 +206,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         
         ((Preference)findPreference(getString(R.string.pref_key_cloud_voxel))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cloud_voxel))).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
         ((Preference)findPreference(getString(R.string.pref_key_texture_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_size))).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
+        ((Preference)findPreference(getString(R.string.pref_key_texture_count))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_count))).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
         ((Preference)findPreference(getString(R.string.pref_key_normal_k))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_normal_k))).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
         ((Preference)findPreference(getString(R.string.pref_key_max_texture_distance))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_texture_distance))).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
         ((Preference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));
@@ -262,6 +263,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	
         	if(key.compareTo(getString(R.string.pref_key_cloud_voxel))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
         	if(key.compareTo(getString(R.string.pref_key_texture_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
+        	if(key.compareTo(getString(R.string.pref_key_texture_count))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
         	if(key.compareTo(getString(R.string.pref_key_normal_k))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
         	if(key.compareTo(getString(R.string.pref_key_max_texture_distance))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
         	if(key.compareTo(getString(R.string.pref_key_min_texture_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));