GUI: Added export mesh with textures, refactored Export dialog (more MLS options)

corelib/include/rtabmap/core/CameraModel.h

@@ -98,7 +98,7 @@ public:
 
 	const cv::Size & imageSize() const {return imageSize_;}
 	int imageWidth() const {return imageSize_.width;}
-	int imageWeight() const {return imageSize_.height;}
+	int imageHeight() const {return imageSize_.height;}
 
 	bool load(const std::string & directory, const std::string & cameraName);
 	bool save(const std::string & directory) const;

corelib/include/rtabmap/core/util3d_surface.h

@@ -33,6 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/PolygonMesh.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
+#include <pcl/TextureMesh.h>
+#include <rtabmap/core/Transform.h>
+#include <rtabmap/core/CameraModel.h>
 
 namespace rtabmap
 {
@@ -50,6 +53,13 @@ pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(
 		float gp3MaximumAngle = 2*M_PI/3,
 		bool gp3NormalConsistency = true);
 
+pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
+		const pcl::PolygonMesh::Ptr & mesh,
+		const std::map<int, Transform> & poses,
+		const std::map<int, CameraModel> & cameraModels,
+		const std::map<int, cv::Mat> & images,
+		const std::string & tmpDirectory = ".");
+
 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		int normalKSearch = 20);
@@ -58,15 +68,21 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		int normalKSearch = 20);
 
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormalsSmoothed(
+pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-		float smoothingSearchRadius = 0.025,
-		bool smoothingPolynomialFit = true,
-		float voxelSize = 0.0f);
+		float searchRadius = 0.0f,
+		int polygonialOrder = 2,
+		int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
+		float upsamplingRadius = 0.0f,   // SAMPLE_LOCAL_PLANE
+		float upsamplingStep = 0.0f,     // SAMPLE_LOCAL_PLANE
+		int pointDensity = 0,            // RANDOM_UNIFORM_DENSITY
+		float dilationVoxelSize = 1.0f,  // VOXEL_GRID_DILATION
+		int dilationIterations = 0);     // VOXEL_GRID_DILATION
 
 void RTABMAP_EXP adjustNormalsToViewPoints(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & viewpoints,
-		pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud);
+		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+		int k = 0); // optional: recompute normal with k neighbors (min k=3)
 
 template<typename pointT>
 std::vector<pcl::Vertices> normalizePolygonsSide(

corelib/include/rtabmap/core/util3d_transforms.h

@@ -46,6 +46,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		const Transform & transform);
+pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP transformPointCloud(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		const Transform & transform);
 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
 		const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
 		const Transform & transform);

corelib/src/util3d_surface.cpp

@@ -28,10 +28,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_surface.h"
 #include "rtabmap/core/util3d_filtering.h"
 #include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UDirectory.h"
+#include "rtabmap/utilite/UConversion.h"
 #include <pcl/search/kdtree.h>
 #include <pcl/surface/gp3.h>
 #include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
 #include <pcl/surface/mls.h>
+#include <pcl/surface/texture_mapping.h>
+
+#include <pcl/visualization/pcl_visualizer.h>
 
 namespace rtabmap
 {
@@ -82,6 +88,147 @@ pcl::PolygonMesh::Ptr createMesh(
 	return mesh;
 }
 
+pcl::texture_mapping::CameraVector createTextureCameras(
+		const std::map<int, Transform> & poses,
+		const std::map<int, CameraModel> & cameraModels,
+		const std::map<int, cv::Mat> & images,
+		const std::string & tmpDirectory)
+{
+	UASSERT(poses.size() == cameraModels.size() && poses.size() == images.size());
+	UASSERT(UDirectory::exists(tmpDirectory));
+	pcl::texture_mapping::CameraVector cameras(poses.size());
+	std::map<int, Transform>::const_iterator poseIter=poses.begin();
+	std::map<int, CameraModel>::const_iterator modelIter=cameraModels.begin();
+	std::map<int, cv::Mat>::const_iterator imageIter=images.begin();
+	int oi=0;
+	for(; poseIter!=poses.end(); ++poseIter, ++modelIter, ++imageIter)
+	{
+		UASSERT(poseIter->first == modelIter->first);
+		UASSERT(poseIter->first == imageIter->first);
+		pcl::TextureMapping<pcl::PointXYZ>::Camera cam;
+
+		// transform into optical referential
+		Transform rotation(0,-1,0,0,
+						   0,0,-1,0,
+						   1,0,0,0);
+
+		Transform t = poseIter->second*rotation.inverse();
+
+		cam.pose = t.toEigen3f();
+
+		UASSERT(modelIter->second.fx()>0 && imageIter->second.rows>0 && imageIter->second.cols>0);
+		cam.focal_length=modelIter->second.fx();
+		cam.height=imageIter->second.rows;
+		cam.width=imageIter->second.cols;
+
+
+		std::string fileName = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", poseIter->first);
+		if(!cv::imwrite(fileName, imageIter->second))
+		{
+			UERROR("Cannot save texture of image %d", poseIter->first);
+		}
+		else
+		{
+			UINFO("Saved temporary texture: \"%s\"", fileName.c_str());
+		}
+		cam.texture_file = fileName;
+		cameras[oi++] = cam;
+	}
+	return cameras;
+}
+
+pcl::TextureMesh::Ptr createTextureMesh(
+		const pcl::PolygonMesh::Ptr & mesh,
+		const std::map<int, Transform> & poses,
+		const std::map<int, CameraModel> & cameraModels,
+		const std::map<int, cv::Mat> & images,
+		const std::string & tmpDirectory)
+{
+	// Original from pcl/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp:
+	// Author: Raphael Favier, Technical University Eindhoven, (r.mysurname <aT> tue.nl)
+
+	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+	pcl::fromPCLPointCloud2(mesh->cloud, *cloud);
+
+	// Create the texturemesh object that will contain our UV-mapped mesh
+	pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
+	textureMesh->cloud = mesh->cloud;
+	std::vector< pcl::Vertices> polygons;
+
+	// push faces into the texturemesh object
+	polygons.resize (mesh->polygons.size ());
+	for(size_t i =0; i < mesh->polygons.size (); ++i)
+	{
+		polygons[i] = mesh->polygons[i];
+	}
+	textureMesh->tex_polygons.push_back(polygons);
+
+	// create cameras
+	pcl::texture_mapping::CameraVector cameras = createTextureCameras(
+			poses,
+			cameraModels,
+			images,
+			tmpDirectory);
+
+	// Create materials for each texture (and one extra for occluded faces)
+	textureMesh->tex_materials.resize (cameras.size () + 1);
+	for(int i = 0 ; i <= cameras.size() ; ++i)
+	{
+		pcl::TexMaterial mesh_material;
+		mesh_material.tex_Ka.r = 0.2f;
+		mesh_material.tex_Ka.g = 0.2f;
+		mesh_material.tex_Ka.b = 0.2f;
+
+		mesh_material.tex_Kd.r = 0.8f;
+		mesh_material.tex_Kd.g = 0.8f;
+		mesh_material.tex_Kd.b = 0.8f;
+
+		mesh_material.tex_Ks.r = 1.0f;
+		mesh_material.tex_Ks.g = 1.0f;
+		mesh_material.tex_Ks.b = 1.0f;
+
+		mesh_material.tex_d = 1.0f;
+		mesh_material.tex_Ns = 75.0f;
+		mesh_material.tex_illum = 2;
+
+		std::stringstream tex_name;
+		tex_name << "material_" << i;
+		tex_name >> mesh_material.tex_name;
+
+		if(i < cameras.size ())
+		{
+			mesh_material.tex_file = cameras[i].texture_file;
+		}
+		else
+		{
+			mesh_material.tex_file = tmpDirectory+UDirectory::separator()+"occluded.png";
+			cv::Mat emptyImage;
+			if(i>0)
+			{
+				emptyImage = cv::Mat::zeros(cameras[i-1].height,cameras[i-1].width, CV_8UC1);
+			}
+			else
+			{
+				emptyImage = cv::Mat::zeros(480, 640, CV_8UC1);
+			}
+			cv::imwrite(mesh_material.tex_file, emptyImage);
+		}
+
+		textureMesh->tex_materials[i] = mesh_material;
+	}
+
+	// Sort faces
+	pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
+	tm.textureMeshwithMultipleCameras(*textureMesh, cameras);
+
+	// compute normals for the mesh
+	pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals = computeNormals(cloud, 20);
+
+	pcl::toPCLPointCloud2 (*cloudWithNormals, textureMesh->cloud);
+
+	return textureMesh;
+}
+
 pcl::PointCloud<pcl::PointNormal>::Ptr computeNormals(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		int normalKSearch)
@@ -130,33 +277,48 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormals(
 	return cloud_with_normals;
 }
 
-pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormalsSmoothed(
+pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-		float smoothingSearchRadius,
-		bool smoothingPolynomialFit,
-		float voxelSize)
+		float searchRadius,
+		int polygonialOrder,
+		int upsamplingMethod, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
+		float upsamplingRadius,      // SAMPLE_LOCAL_PLANE
+		float upsamplingStep,        // SAMPLE_LOCAL_PLANE
+		int pointDensity,             // RANDOM_UNIFORM_DENSITY
+		float dilationVoxelSize,     // VOXEL_GRID_DILATION
+		int dilationIterations)       // VOXEL_GRID_DILATION
 {
 	pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 	pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>);
 	tree->setInputCloud (cloud);
 
-	// Init object (second point type is for the normals, even if unused)
+	// Init object (second point type is for the normals)
 	pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGBNormal> mls;
 
-	mls.setComputeNormals (true);
-
 	// Set parameters
-	mls.setInputCloud (cloud);
-	mls.setPolynomialFit (smoothingPolynomialFit);
-	mls.setSearchMethod (tree);
-	mls.setSearchRadius (smoothingSearchRadius);
-	if(voxelSize > 0.0f)
+	mls.setComputeNormals (true);
+	if(polygonialOrder > 0)
 	{
-		mls.setUpsamplingMethod(pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGBNormal>::VOXEL_GRID_DILATION);
-		mls.setDilationVoxelSize(voxelSize);
+		mls.setPolynomialFit (true);
+		mls.setPolynomialOrder(polygonialOrder);
 	}
+	else
+	{
+		mls.setPolynomialFit (false);
+	}
+	UASSERT(upsamplingMethod >= mls.NONE &&
+			upsamplingMethod <= mls.VOXEL_GRID_DILATION);
+	mls.setUpsamplingMethod((pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGBNormal>::UpsamplingMethod)upsamplingMethod);
+	mls.setSearchRadius(searchRadius);
+	mls.setUpsamplingRadius(upsamplingRadius);
+	mls.setUpsamplingStepSize(upsamplingStep);
+	mls.setPointDensity(pointDensity);
+	mls.setDilationVoxelSize(dilationVoxelSize);
+	mls.setDilationIterations(dilationIterations);
 
 	// Reconstruct
+	mls.setInputCloud (cloud);
+	mls.setSearchMethod (tree);
 	mls.process (*cloud_with_normals);
 
 	return cloud_with_normals;
@@ -164,30 +326,56 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormalsSmoothed(
 
 void adjustNormalsToViewPoints(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & viewpoints,
-		pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud)
+		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+		int k)
 {
-	if(viewpoints->size() && cloud.size())
+	// FIXME: maybe better to project points in camera planes to know if they are visible from a specified viewpoint
+	if(viewpoints->size() && cloud->size())
 	{
-		pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
-		tree->setInputCloud (viewpoints);
+		pcl::search::KdTree<pcl::PointXYZ>::Ptr viewpointsTree (new pcl::search::KdTree<pcl::PointXYZ>);
+		viewpointsTree->setInputCloud (viewpoints);
 
-		for(unsigned int i=0; i<cloud.size(); ++i)
+		pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>);
+		tree->setInputCloud (cloud);
+
+		for(unsigned int i=0; i<cloud->size(); ++i)
 		{
 			std::vector<int> indices;
 			std::vector<float> dist;
-			tree->nearestKSearch(pcl::PointXYZ(cloud.points[i].x, cloud.points[i].y, cloud.points[i].z), 1, indices, dist);
+			viewpointsTree->nearestKSearch(pcl::PointXYZ(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z), 1, indices, dist);
 			UASSERT(indices.size() == 1);
-
-			Eigen::Vector3f v = viewpoints->at(indices[0]).getVector3fMap() - cloud.points[i].getVector3fMap();
-			Eigen::Vector3f n(cloud.points[i].normal_x, cloud.points[i].normal_y, cloud.points[i].normal_z);
-
-			float result = v.dot(n);
-			if(result < 0)
+			if(indices.size() && indices[0]>=0)
 			{
-				//reverse normal
-				cloud.points[i].normal_x *= -1.0f;
-				cloud.points[i].normal_y *= -1.0f;
-				cloud.points[i].normal_z *= -1.0f;
+
+				Eigen::Vector3f v = viewpoints->at(indices[0]).getVector3fMap() - cloud->points[i].getVector3fMap();
+
+				//compute point normal
+				if(k >= 3)
+				{
+					tree->nearestKSearch(cloud->points[i], k, indices, dist);
+					if(indices.size() >= 3)
+					{
+						Eigen::Vector4f planeParameters;
+						float curvature;
+						pcl::computePointNormal(*cloud, indices, planeParameters, curvature);
+
+						//update normal
+						cloud->points[i].normal_x = planeParameters[0];
+						cloud->points[i].normal_y = planeParameters[1];
+						cloud->points[i].normal_z = planeParameters[2];
+					}
+				}
+
+				Eigen::Vector3f n(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
+
+				float result = v.dot(n);
+				if(result < 0)
+				{
+					//reverse normal
+					cloud->points[i].normal_x *= -1.0f;
+					cloud->points[i].normal_y *= -1.0f;
+					cloud->points[i].normal_z *= -1.0f;
+				}
 			}
 		}
 	}

corelib/src/util3d_transforms.cpp

@@ -51,6 +51,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
 	pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
 	return output;
 }
+pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		const Transform & transform)
+{
+	pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
+	pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
+	return output;
+}
 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
 		const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
 		const Transform & transform)

guilib/include/rtabmap/gui/CloudViewer.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
 #include "rtabmap/core/Transform.h"
 #include <QtCore/QMap>
 #include <QtCore/QSet>
@@ -145,6 +146,11 @@ public:
 			const pcl::PolygonMesh::Ptr & mesh,
 			const Transform & pose = Transform::getIdentity());
 
+	bool addCloudTextureMesh(
+			const std::string & id,
+			const pcl::TextureMesh::Ptr & textureMesh,
+			const Transform & pose = Transform::getIdentity());
+
 	bool addOccupancyGridMap(
 			const cv::Mat & map8U,
 			float resolution, // cell size

guilib/include/rtabmap/gui/MainWindow.h

@@ -41,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
 
 namespace rtabmap {
 class CameraThread;
@@ -226,20 +227,22 @@ private:
 	void exportPoses(int format);
 	QString captureScreen();
 
-	std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr > getClouds(
+	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
 			const std::map<int, Transform> & poses,
 			bool regenerateClouds,
 			int regenerateDecimation,
 			float regenerateVoxelSize,
-			float regenerateMaxDepth,
-			int normalKSearch,
-			bool mls,
-			float mlsRadius) const;
+			float regenerateMaxDepth) const;
 
 	bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
-	bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
+	bool getExportedClouds(
+			std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
+			std::map<int, pcl::PolygonMesh::Ptr> & meshes,
+			std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
+			bool toSave);
 	void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
 	void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
+	void saveTextureMeshes(const std::map<int, pcl::TextureMesh::Ptr> & meshes);
 	void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
 
 private:

guilib/src/CloudViewer.cpp

@@ -573,6 +573,24 @@ bool CloudViewer::addCloudMesh(
 	return false;
 }
 
+bool CloudViewer::addCloudTextureMesh(
+	const std::string & id,
+	const pcl::TextureMesh::Ptr & textureMesh,
+	const Transform & pose)
+{
+	if(!_addedClouds.contains(id))
+	{
+		UDEBUG("Adding %s", id.c_str());
+		if(_visualizer->addTextureMesh(*textureMesh, id))
+		{
+			_visualizer->updatePointCloudPose(id, pose.toEigen3f());
+			_addedClouds.insert(id, pose);
+			return true;
+		}
+	}
+	return false;
+}
+
 bool CloudViewer::addOccupancyGridMap(
 		const cv::Mat & map8U,
 		float resolution, // cell size

guilib/src/DetailedProgressDialog.cpp

@@ -69,6 +69,8 @@ DetailedProgressDialog::DetailedProgressDialog(QWidget *parent, Qt::WindowFlags
 	hLayout->addWidget(_closeWhenDoneCheckBox);
 	hLayout->addWidget(_closeButton);
 	this->setLayout(layout);
+
+	this->setModal(true);
 }
 
 DetailedProgressDialog::~DetailedProgressDialog()
@@ -78,7 +80,10 @@ DetailedProgressDialog::~DetailedProgressDialog()
 
 void DetailedProgressDialog::setAutoClose(bool on, int delayedClosingTimeSec)
 {
-	_delayedClosingTime = delayedClosingTimeSec;
+	if(delayedClosingTimeSec >= 0)
+	{
+		_delayedClosingTime = delayedClosingTimeSec;
+	}
 	_closeWhenDoneCheckBox->setChecked(on);
 }
 
@@ -146,7 +151,6 @@ void DetailedProgressDialog::closeEvent(QCloseEvent *event)
 	if(_progressBar->value() == _progressBar->maximum())
 	{
 		event->accept();
-		_closeWhenDoneCheckBox->setChecked(true);
 	}
 	else
 	{

guilib/src/DetailedProgressDialog.h

@@ -50,7 +50,7 @@ public:
 	void setValue(int value);
 	int maximumSteps() const;
 	void setMaximumSteps(int steps);
-	void setAutoClose(bool on, int delayedClosingTimeMsec = 0);
+	void setAutoClose(bool on, int delayedClosingTimeMsec = -1);
 
 protected:
 	virtual void closeEvent(QCloseEvent * event);

guilib/src/ExportCloudsDialog.cpp

@@ -40,19 +40,37 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 
 	connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
 
-	connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
-	connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	restoreDefaults();
+	_ui->comboBox_upsamplingMethod->setItemData(1, 0, Qt::UserRole - 1); // disable DISTINCT_CLOUD
+
+	connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
 	connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
-	connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+
+	connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
 	connect(_ui->groupBox_mls, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_polygonialOrder, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_sampleStep, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_randomPoints, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_dilationVoxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_dilationSteps, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	_ui->stackedWidget_upsampling->setCurrentIndex(_ui->comboBox_upsamplingMethod->currentIndex());
+	connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_upsampling, SLOT(setCurrentIndex(int)));
+	connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility()));
+	updateMLSGrpVisibility();
+
 	connect(_ui->groupBox_gp3, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
-	connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 }
 
 ExportCloudsDialog::~ExportCloudsDialog()
@@ -60,25 +78,48 @@ ExportCloudsDialog::~ExportCloudsDialog()
 	delete _ui;
 }
 
+void ExportCloudsDialog::updateMLSGrpVisibility()
+{
+	_ui->groupBox->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 0);
+	_ui->groupBox_2->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 1);
+	_ui->groupBox_3->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 2);
+	_ui->groupBox_4->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 3);
+	_ui->groupBox_5->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 4);
+}
+
 void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & group) const
 {
 	if(!group.isEmpty())
 	{
 		settings.beginGroup(group);
 	}
-	settings.setValue("assemble", this->getAssemble());
-	settings.setValue("assemble_voxel", this->getAssembleVoxel());
+	settings.setValue("binary", this->getBinaryFile());
+	settings.setValue("normals_k", this->getNormalKSearch());
+
 	settings.setValue("regenerate", this->getGenerate());
 	settings.setValue("regenerate_decimation", this->getGenerateDecimation());
 	settings.setValue("regenerate_voxel", this->getGenerateVoxel());
 	settings.setValue("regenerate_max_depth", this->getGenerateMaxDepth());
-	settings.setValue("binary", this->getBinaryFile());
+
+	settings.setValue("assemble", this->getAssemble());
+	settings.setValue("assemble_voxel", this->getAssembleVoxel());
+
 	settings.setValue("mls", this->getMLS());
 	settings.setValue("mls_radius", this->getMLSRadius());
+	settings.setValue("mls_polygonial_order", this->getMLSPolygonialOrder());
+	settings.setValue("mls_upsampling_method", this->getMLSUpsamplingMethod());
+	settings.setValue("mls_upsampling_radius", this->getMLSUpsamplingRadius());
+	settings.setValue("mls_upsampling_step", this->getMLSUpsamplingStep());
+	settings.setValue("mls_point_density", this->getMLSPointDensity());
+	settings.setValue("mls_dilation_voxel_size", this->getMLSDilationVoxelSize());
+	settings.setValue("mls_dilation_iterations", this->getMLSDilationIterations());
+
 	settings.setValue("mesh", this->getMesh());
-	settings.setValue("mesh_k", this->getMeshNormalKSearch());
 	settings.setValue("mesh_radius", this->getMeshGp3Radius());
 	settings.setValue("mesh_mu", this->getMeshGp3Mu());
+
+	settings.setValue("mesh_texture", this->getMeshTexture());
+
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -91,19 +132,34 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	{
 		settings.beginGroup(group);
 	}
-	this->setAssemble(settings.value("assemble", this->getAssemble()).toBool());
-	this->setAssembleVoxel(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
-	this->setGenerate(settings.value("regenerate", this->getGenerate()).toBool());
-	this->setGenerateDecimation(settings.value("regenerate_decimation", this->getGenerateDecimation()).toInt());
-	this->setGenerateVoxel(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
-	this->setGenerateMaxDepth(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
-	this->setBinaryFile(settings.value("binary", this->getBinaryFile()).toBool());
-	this->setMLS(settings.value("mls", this->getMLS()).toBool());
-	this->setMLSRadius(settings.value("mls_radius", this->getMLSRadius()).toDouble());
-	this->setMesh(settings.value("mesh", this->getMesh()).toBool());
-	this->setMeshNormalKSearch(settings.value("mesh_k", this->getMeshNormalKSearch()).toInt());
-	this->setMeshGp3Radius(settings.value("mesh_radius", this->getMeshGp3Radius()).toDouble());
-	this->setMeshGp3Mu(settings.value("mesh_mu", this->getMeshGp3Mu()).toDouble());
+
+	_ui->checkBox_binary->setChecked(settings.value("binary", this->getBinaryFile()).toBool());
+	_ui->spinBox_normalKSearch->setValue(settings.value("normals_k", this->getNormalKSearch()).toInt());
+
+	_ui->groupBox_regenerate->setChecked(settings.value("regenerate", this->getGenerate()).toBool());
+	_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", this->getGenerateDecimation()).toInt());
+	_ui->doubleSpinBox_voxelSize->setValue(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
+	_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
+
+	_ui->groupBox_assemble->setChecked(settings.value("assemble", this->getAssemble()).toBool());
+	_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
+
+	_ui->groupBox_mls->setChecked(settings.value("mls", this->getMLS()).toBool());
+	_ui->doubleSpinBox_mlsRadius->setValue(settings.value("mls_radius", this->getMLSRadius()).toDouble());
+	_ui->spinBox_polygonialOrder->setValue(settings.value("mls_polygonial_order", this->getMLSPolygonialOrder()).toInt());
+	_ui->comboBox_upsamplingMethod->setCurrentIndex(settings.value("mls_upsampling_method", this->getMLSUpsamplingMethod()).toInt());
+	_ui->doubleSpinBox_sampleRadius->setValue(settings.value("mls_upsampling_radius", this->getMLSRadius()).toDouble());
+	_ui->doubleSpinBox_sampleStep->setValue(settings.value("mls_upsampling_step", this->getMLSUpsamplingStep()).toDouble());
+	_ui->spinBox_randomPoints->setValue(settings.value("mls_point_density", this->getMLSPointDensity()).toInt());
+	_ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", this->getMLSDilationVoxelSize()).toDouble());
+	_ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", this->getMLSDilationIterations()).toInt());
+
+	_ui->groupBox_gp3->setChecked(settings.value("mesh", this->getMesh()).toBool());
+	_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", this->getMeshGp3Radius()).toDouble());
+	_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", this->getMeshGp3Mu()).toDouble());
+
+	_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", this->getGenerate()).toBool());
+
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -112,22 +168,34 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 
 void ExportCloudsDialog::restoreDefaults()
 {
-	setAssemble(true);
-	setAssembleVoxel(0.005);
+	_ui->checkBox_binary->setChecked(true);
+	_ui->spinBox_normalKSearch->setValue(20);
+
 	if(_ui->groupBox_regenerate->isEnabled())
 	{
-		setGenerate(true);
+		_ui->groupBox_regenerate->setChecked(true);
 	}
-	setGenerateDecimation(1);
-	setGenerateVoxel(0.005);
-	setGenerateMaxDepth(4);
-	setBinaryFile(true);
-	setMLS(false);
-	setMLSRadius(0.04);
-	setMesh(false);
-	setMeshNormalKSearch(20);
-	setMeshGp3Radius(0.04);
-	setMeshGp3Radius(2.5);
+	_ui->spinBox_decimation->setValue(1);
+	_ui->doubleSpinBox_voxelSize->setValue(0.01);
+	_ui->doubleSpinBox_maxDepth->setValue(4);
+
+	_ui->groupBox_assemble->setChecked(true);
+	_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
+
+	_ui->groupBox_mls->setChecked(false);
+	_ui->doubleSpinBox_mlsRadius->setValue(0.04);
+	_ui->spinBox_polygonialOrder->setValue(2);
+	_ui->comboBox_upsamplingMethod->setCurrentIndex(0);
+	_ui->doubleSpinBox_sampleRadius->setValue(0.01);
+	_ui->doubleSpinBox_sampleStep->setValue(0.0);
+	_ui->spinBox_randomPoints->setValue(0);
+	_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01);
+	_ui->spinBox_dilationSteps->setValue(0);
+
+	_ui->groupBox_gp3->setChecked(false);
+	_ui->doubleSpinBox_gp3Radius->setValue(0.04);
+	_ui->doubleSpinBox_gp3Mu->setValue(2.5);
+	_ui->checkBox_textureMapping->setChecked(false);
 }
 
 void ExportCloudsDialog::setSaveButton()
@@ -135,6 +203,9 @@ void ExportCloudsDialog::setSaveButton()
 	_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
 	_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(true);
 	_ui->checkBox_binary->setVisible(true);
+	_ui->label_binaryFile->setVisible(true);
+	_ui->checkBox_textureMapping->setVisible(true);
+	_ui->label_textureMapping->setVisible(true);
 }
 
 void ExportCloudsDialog::setOkButton()
@@ -142,6 +213,9 @@ void ExportCloudsDialog::setOkButton()
 	_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(true);
 	_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(false);
 	_ui->checkBox_binary->setVisible(false);
+	_ui->label_binaryFile->setVisible(false);
+	_ui->checkBox_textureMapping->setVisible(false);
+	_ui->label_textureMapping->setVisible(false);
 }
 
 void ExportCloudsDialog::enableRegeneration(bool enabled)
@@ -154,14 +228,13 @@ void ExportCloudsDialog::enableRegeneration(bool enabled)
 }
 
 //getters
-bool ExportCloudsDialog::getAssemble() const
+bool ExportCloudsDialog::getBinaryFile() const
 {
-	return _ui->groupBox_assemble->isChecked();
+	return _ui->checkBox_binary->isChecked();
 }
-
-double ExportCloudsDialog::getAssembleVoxel() const
+int ExportCloudsDialog::getNormalKSearch() const
 {
-	return _ui->doubleSpinBox_voxelSize_assembled->value();
+	return _ui->spinBox_normalKSearch->value();
 }
 
 bool ExportCloudsDialog::getGenerate() const
@@ -184,31 +257,57 @@ double ExportCloudsDialog::getGenerateMaxDepth() const
 	return _ui->doubleSpinBox_maxDepth->value();
 }
 
-bool ExportCloudsDialog::getBinaryFile() const
+bool ExportCloudsDialog::getAssemble() const
 {
-	return _ui->checkBox_binary->isChecked();
+	return _ui->groupBox_assemble->isChecked();
+}
+
+double ExportCloudsDialog::getAssembleVoxel() const
+{
+	return _ui->doubleSpinBox_voxelSize_assembled->value();
 }
 
 bool ExportCloudsDialog::getMLS() const
 {
 	return _ui->groupBox_mls->isChecked();
 }
-
 double ExportCloudsDialog::getMLSRadius() const
 {
 	return _ui->doubleSpinBox_mlsRadius->value();
 }
+int ExportCloudsDialog::getMLSPolygonialOrder() const
+{
+	return _ui->spinBox_polygonialOrder->value();
+}
+int ExportCloudsDialog::getMLSUpsamplingMethod() const
+{
+	return _ui->comboBox_upsamplingMethod->currentIndex();
+}
+double ExportCloudsDialog::getMLSUpsamplingRadius() const
+{
+	return _ui->doubleSpinBox_sampleRadius->value();
+}
+double ExportCloudsDialog::getMLSUpsamplingStep() const
+{
+	return _ui->doubleSpinBox_sampleStep->value();
+}
+int ExportCloudsDialog::getMLSPointDensity() const
+{
+	return _ui->spinBox_randomPoints->value();
+}
+double ExportCloudsDialog::getMLSDilationVoxelSize() const
+{
+	return _ui->doubleSpinBox_dilationVoxelSize->value();
+}
+int ExportCloudsDialog::getMLSDilationIterations() const
+{
+	return _ui->spinBox_dilationSteps->value();
+}
 
 bool ExportCloudsDialog::getMesh() const
 {
 	return _ui->groupBox_gp3->isChecked();
 }
-
-int ExportCloudsDialog::getMeshNormalKSearch() const
-{
-	return _ui->spinBox_normalKSearch->value();
-}
-
 double ExportCloudsDialog::getMeshGp3Radius() const
 {
 	return _ui->doubleSpinBox_gp3Radius->value();
@@ -217,59 +316,9 @@ double ExportCloudsDialog::getMeshGp3Mu() const
 {
 	return _ui->doubleSpinBox_gp3Mu->value();
 }
-
-//setters
-void ExportCloudsDialog::setAssemble(bool on)
+bool ExportCloudsDialog::getMeshTexture() const
 {
-	_ui->groupBox_assemble->setChecked(on);
-}
-void ExportCloudsDialog::setAssembleVoxel(double voxel)
-{
-	_ui->doubleSpinBox_voxelSize_assembled->setValue(voxel);
-}
-void ExportCloudsDialog::setGenerate(bool on)
-{
-	_ui->groupBox_regenerate->setChecked(on);
-}
-void ExportCloudsDialog::setGenerateDecimation(int decimation)
-{
-	_ui->spinBox_decimation->setValue(decimation);
-}
-void ExportCloudsDialog::setGenerateVoxel(double voxel)
-{
-	_ui->doubleSpinBox_voxelSize->setValue(voxel);
-}
-void ExportCloudsDialog::setGenerateMaxDepth(double maxDepth)
-{
-	_ui->doubleSpinBox_maxDepth->setValue(maxDepth);
-}
-void ExportCloudsDialog::setBinaryFile(bool on)
-{
-	_ui->checkBox_binary->setChecked(on);
-}
-void ExportCloudsDialog::setMLS(bool on)
-{
-	_ui->groupBox_mls->setChecked(on);
-}
-void ExportCloudsDialog::setMLSRadius(double radius)
-{
-	_ui->doubleSpinBox_mlsRadius->setValue(radius);
-}
-void ExportCloudsDialog::setMesh(bool on)
-{
-	_ui->groupBox_gp3->setChecked(on);
-}
-void ExportCloudsDialog::setMeshNormalKSearch(int k)
-{
-	_ui->spinBox_normalKSearch->setValue(k);
-}
-void ExportCloudsDialog::setMeshGp3Radius(double radius)
-{
-	_ui->doubleSpinBox_gp3Radius->setValue(radius);
-}
-void ExportCloudsDialog::setMeshGp3Mu(double mu)
-{
-	_ui->doubleSpinBox_gp3Mu->setValue(mu);
+	return _ui->checkBox_textureMapping->isChecked();
 }
 
 }

guilib/src/ExportCloudsDialog.h

@@ -53,34 +53,31 @@ public:
 	void enableRegeneration(bool enabled);
 
 	//getters
-	bool getAssemble() const;
-	double getAssembleVoxel() const;
+	bool getBinaryFile() const;
+	int getNormalKSearch() const;
+
 	bool getGenerate() const;
 	int getGenerateDecimation() const;
 	double getGenerateVoxel() const;
 	double getGenerateMaxDepth() const;
-	bool getBinaryFile() const;
+
+	bool getAssemble() const;
+	double getAssembleVoxel() const;
+
 	bool getMLS() const;
 	double getMLSRadius() const;
+	int getMLSPolygonialOrder() const;
+	int getMLSUpsamplingMethod() const;
+	double getMLSUpsamplingRadius() const;
+	double getMLSUpsamplingStep() const;
+	int getMLSPointDensity() const;
+	double getMLSDilationVoxelSize() const;
+	int getMLSDilationIterations() const;
+
 	bool getMesh() const;
-	int getMeshNormalKSearch() const;
 	double getMeshGp3Radius() const;
 	double getMeshGp3Mu() const;
-
-	//setters
-	void setAssemble(bool on);
-	void setAssembleVoxel(double voxel);
-	void setGenerate(bool on);
-	void setGenerateDecimation(int decimation);
-	void setGenerateVoxel(double voxel);
-	void setGenerateMaxDepth(double maxDepth);
-	void setBinaryFile(bool on);
-	void setMLS(bool on);
-	void setMLSRadius(double radius);
-	void setMesh(bool on);
-	void setMeshNormalKSearch(int k);
-	void setMeshGp3Radius(double radius);
-	void setMeshGp3Mu(double mu);
+	bool getMeshTexture() const;
 
 signals:
 	void configChanged();
@@ -88,6 +85,9 @@ signals:
 public slots:
 	void restoreDefaults();
 
+private slots:
+	void updateMLSGrpVisibility();
+
 private:
 	Ui_ExportCloudsDialog * _ui;
 };

guilib/src/MainWindow.cpp

@@ -99,6 +99,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/ply_io.h>
 #include <pcl/io/vtk_io.h>
+#include <pcl/io/obj_io.h>
 #include <pcl/filters/filter.h>
 #include <pcl/search/kdtree.h>
 
@@ -1764,7 +1765,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 				pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
 				if(_preferencesDialog->getMeshSmoothing())
 				{
-					cloudWithNormals = util3d::computeNormalsSmoothed(
+					cloudWithNormals = util3d::mls(
 							cloudFiltered,
 							(float)_preferencesDialog->getMeshSmoothingRadius(),
 							false,
@@ -1796,7 +1797,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 			if(_preferencesDialog->getMeshSmoothing())
 			{
 				pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
-				cloudWithNormals = util3d::computeNormalsSmoothed(
+				cloudWithNormals = util3d::mls(
 						cloudFiltered,
 						(float)_preferencesDialog->getMeshSmoothingRadius(),
 						false,
@@ -3321,7 +3322,6 @@ void MainWindow::postProcessing()
 		return;
 	}
 
-	_initProgressDialog->setAutoClose(true, 1);
 	_initProgressDialog->resetProgress();
 	_initProgressDialog->clear();
 	_initProgressDialog->show();
@@ -3708,7 +3708,7 @@ void MainWindow::postProcessing()
 		else
 		{
 			_initProgressDialog->appendText(tr("SBA... failed!"));
-			_initProgressDialog->setAutoClose(false, 1);
+			_initProgressDialog->setAutoClose(false);
 		}
 		_initProgressDialog->incrementStep();
 	}
@@ -4437,10 +4437,15 @@ void MainWindow::exportClouds()
 {
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
 	std::map<int, pcl::PolygonMesh::Ptr> meshes;
+	std::map<int, pcl::TextureMesh::Ptr> textureMeshes;
 
-	if(getExportedClouds(clouds, meshes, true))
+	if(getExportedClouds(clouds, meshes, textureMeshes, true))
 	{
-		if(meshes.size())
+		if(textureMeshes.size())
+		{
+			saveTextureMeshes(textureMeshes);
+		}
+		else if(meshes.size())
 		{
 			saveMeshes(meshes, _exportDialog->getBinaryFile());
 		}
@@ -4456,8 +4461,9 @@ void MainWindow::viewClouds()
 {
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
 	std::map<int, pcl::PolygonMesh::Ptr> meshes;
+	std::map<int, pcl::TextureMesh::Ptr> textureMeshes;
 
-	if(getExportedClouds(clouds, meshes, false))
+	if(getExportedClouds(clouds, meshes, textureMeshes, false))
 	{
 		QDialog * window = new QDialog(this, Qt::Window);
 		if(meshes.size())
@@ -4519,8 +4525,9 @@ void MainWindow::viewClouds()
 }
 
 bool MainWindow::getExportedClouds(
-		std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
+		std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
 		std::map<int, pcl::PolygonMesh::Ptr> & meshes,
+		std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
 		bool toSave)
 {
 	if(_exportDialog->isVisible())
@@ -4551,6 +4558,11 @@ bool MainWindow::getExportedClouds(
 		{
 			mul+=1;
 		}
+		mul+=1; // normals
+		if(_exportDialog->getMeshTexture())
+		{
+			mul+=1;
+		}
 		_initProgressDialog->setMaximumSteps(int(poses.size())*mul+1);
 
 		if(_exportDialog->getMLS())
@@ -4559,17 +4571,14 @@ bool MainWindow::getExportedClouds(
 					"[search radius=%1m voxel=%2m]").arg(_exportDialog->getMLSRadius()).arg(_exportDialog->getGenerateVoxel()));
 		}
 		_initProgressDialog->appendText(tr("Computing surface normals... "
-					"[K neighbors=%1]").arg(_exportDialog->getMeshNormalKSearch()));
+					"[K neighbors=%1]").arg(_exportDialog->getNormalKSearch()));
 
-		clouds = this->getClouds(
+		std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds = this->getClouds(
 				poses,
 				_exportDialog->getGenerate(),
 				_exportDialog->getGenerateDecimation(),
 				_exportDialog->getGenerateVoxel(),
-				_exportDialog->getGenerateMaxDepth(),
-				_exportDialog->getMeshNormalKSearch(),
-				_exportDialog->getAssemble()?false:_exportDialog->getMLS(),
-				(float)_exportDialog->getMLSRadius());
+				_exportDialog->getGenerateMaxDepth());
 
 		if(_exportDialog->getAssemble())
 		{
@@ -4577,62 +4586,75 @@ bool MainWindow::getExportedClouds(
 			QApplication::processEvents();
 
 			int i =0;
-			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
-			for(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>::iterator iter=clouds.begin();
+			pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
+			for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::iterator iter=clouds.begin();
 				iter!= clouds.end();
 				++iter)
 			{
-				pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformed = util3d::transformPointCloud(iter->second, poses.at(iter->first));
+				pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(iter->second, poses.at(iter->first));
 				*assembledCloud += *transformed;
 
 				_initProgressDialog->appendText(tr("Assembled cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
 				_initProgressDialog->incrementStep();
-
-				if(i % 100 == 0)
-				{
-					QApplication::processEvents();
-				}
+				QApplication::processEvents();
 			}
 
+			_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
+					.arg(assembledCloud->size())
+					.arg(_exportDialog->getGenerateVoxel()));
+			QApplication::processEvents();
+			if(_exportDialog->getGenerateVoxel())
+			{
+				assembledCloud = util3d::voxelize(
+						assembledCloud,
+						_exportDialog->getGenerateVoxel());
+			}
+			clouds.clear();
+			clouds.insert(std::make_pair(0, assembledCloud));
+		}
+
+		// normals
+		for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::iterator iter=clouds.begin();
+			iter!= clouds.end();
+			++iter)
+		{
+			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 			if(_exportDialog->getMLS())
 			{
-				_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
-						.arg(assembledCloud->size())
-						.arg(_exportDialog->getGenerateVoxel()));
-				QApplication::processEvents();
-				if(_exportDialog->getGenerateVoxel())
-				{
-					assembledCloud = util3d::voxelize(
-							assembledCloud,
-							_exportDialog->getGenerateVoxel());
-				}
-
-				_initProgressDialog->appendText(tr("Smoothing (MLS) of the assembled cloud (%1 points)...").arg(assembledCloud->size()));
+				_initProgressDialog->appendText(tr("Smoothing (MLS) of the assembled cloud (%1 points)...").arg(iter->second->size()));
 				QApplication::processEvents();
 
-				pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloudXYZRGB(new pcl::PointCloud<pcl::PointXYZRGB>);
-				pcl::copyPointCloud(*assembledCloud, *assembledCloudXYZRGB);
-				assembledCloud = util3d::computeNormalsSmoothed(
-						assembledCloudXYZRGB,
+				cloudWithNormals = util3d::mls(
+						iter->second,
 						(float)_exportDialog->getMLSRadius(),
-						true,
-						_exportDialog->getGenerateVoxel());
+						_exportDialog->getMLSPolygonialOrder(),
+						_exportDialog->getMLSUpsamplingMethod(),
+						(float)_exportDialog->getMLSUpsamplingRadius(),
+						(float)_exportDialog->getMLSUpsamplingStep(),
+						_exportDialog->getMLSPointDensity(),
+						(float)_exportDialog->getMLSDilationVoxelSize(),
+						_exportDialog->getMLSDilationIterations());
 
-				if(_exportDialog->getAssembleVoxel())
-				{
-					_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
-							.arg(assembledCloud->size())
-							.arg(_exportDialog->getAssembleVoxel()));
-					QApplication::processEvents();
-
-					assembledCloud = util3d::voxelize(
-							assembledCloud,
-							_exportDialog->getAssembleVoxel());
-				}
-
-				_initProgressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(assembledCloud->size()).arg(poses.size()));
+				// Re-voxelize to make sure to have uniform density
+				_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
+						.arg(cloudWithNormals->size())
+						.arg(_exportDialog->getAssemble()?_exportDialog->getAssembleVoxel():_exportDialog->getGenerateVoxel()));
 				QApplication::processEvents();
 
+				cloudWithNormals = util3d::voxelize(
+						cloudWithNormals,
+						_exportDialog->getAssemble()?_exportDialog->getAssembleVoxel():_exportDialog->getGenerateVoxel());
+
+			}
+			else
+			{
+				//compute normals
+				cloudWithNormals = util3d::computeNormals(iter->second, _exportDialog->getNormalKSearch());
+			}
+
+			if(_exportDialog->getAssemble())
+			{
+				_initProgressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size()));
 				pcl::PointCloud<pcl::PointXYZ>::Ptr viewpoints(new pcl::PointCloud<pcl::PointXYZ>);
 				viewpoints->resize(poses.size());
 				int oi=0;
@@ -4642,30 +4664,23 @@ bool MainWindow::getExportedClouds(
 					(*viewpoints)[oi].y = iter->second.y();
 					(*viewpoints)[oi++].z = iter->second.z();
 				}
-				util3d::adjustNormalsToViewPoints(viewpoints, *assembledCloud);
-			}
-			else if(_exportDialog->getAssembleVoxel())
-			{
-				_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points)...").arg(assembledCloud->size()));
-				QApplication::processEvents();
-				assembledCloud = util3d::voxelize(
-						assembledCloud,
-						_exportDialog->getAssembleVoxel());
-				_initProgressDialog->appendText(tr("Voxelized assembled cloud (%1 points)").arg(assembledCloud->size()));
+				util3d::adjustNormalsToViewPoints(viewpoints, cloudWithNormals, _exportDialog->getNormalKSearch());
 			}
+			cloudsWithNormals.insert(std::make_pair(iter->first, cloudWithNormals));
 
-			clouds.clear();
-			clouds.insert(std::make_pair(0, assembledCloud));
+			_initProgressDialog->incrementStep();
+			QApplication::processEvents();
 		}
 
+		//mesh
 		if(_exportDialog->getMesh())
 		{
 			_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_exportDialog->getMeshGp3Radius()));
 			QApplication::processEvents();
 
 			int i=0;
-			for(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>::iterator iter=clouds.begin();
-				iter!= clouds.end();
+			for(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>::iterator iter=cloudsWithNormals.begin();
+				iter!= cloudsWithNormals.end();
 				++iter)
 			{
 				pcl::PolygonMesh::Ptr mesh = util3d::createMesh(iter->second, _exportDialog->getMeshGp3Radius(), _exportDialog->getMeshGp3Mu());
@@ -4673,13 +4688,78 @@ bool MainWindow::getExportedClouds(
 
 				_initProgressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
 				_initProgressDialog->incrementStep();
-				if(i % 100 == 0)
-				{
-					QApplication::processEvents();
-				}
+				QApplication::processEvents();
 			}
 		}
 
+		if(toSave && _exportDialog->getMeshTexture())
+		{
+			int i=0;
+			for(std::map<int, pcl::PolygonMesh::Ptr>::iterator iter=meshes.begin();
+				iter!= meshes.end();
+				++iter)
+			{
+				std::map<int, Transform> cameras;
+				if(iter->first == 0)
+				{
+					cameras = poses;
+				}
+				else
+				{
+					UASSERT(uContains(poses, iter->first));
+					cameras.insert(std::make_pair(iter->first, Transform::getIdentity()));
+				}
+				std::map<int, Transform> cameraPoses;
+				std::map<int, CameraModel> cameraModels;
+				std::map<int, cv::Mat> images;
+				for(std::map<int, Transform>::iterator iter=cameras.begin(); iter!=cameras.end(); ++iter)
+				{
+					if(_cachedSignatures.contains(iter->first))
+					{
+						const Signature & s = _cachedSignatures.value(iter->first);
+						CameraModel model;
+						if(s.sensorData().stereoCameraModel().isValid())
+						{
+							model = s.sensorData().stereoCameraModel().left();
+						}
+						else if(s.sensorData().cameraModels().size() == 1 && s.sensorData().cameraModels()[0].isValid())
+						{
+							model = s.sensorData().cameraModels()[0];
+						}
+						cv::Mat image = s.sensorData().imageRaw();
+						if(image.empty() && !s.sensorData().imageCompressed().empty())
+						{
+							s.sensorData().uncompressDataConst(&image, 0, 0, 0);
+						}
+						if(!iter->second.isNull() && model.isValid() && !image.empty())
+						{
+							cameraPoses.insert(std::make_pair(iter->first, iter->second));
+							cameraModels.insert(std::make_pair(iter->first, model));
+							images.insert(std::make_pair(iter->first, image));
+						}
+					}
+				}
+				if(cameraPoses.size())
+				{
+					QDir dir(_preferencesDialog->getWorkingDirectory());
+					dir.mkdir("tmp_textures");
+					pcl::TextureMesh::Ptr textureMesh = util3d::createTextureMesh(
+							iter->second,
+							cameraPoses,
+							cameraModels,
+							images,
+							dir.filePath("tmp_textures").toStdString());
+
+					textureMeshes.insert(std::make_pair(iter->first, textureMesh));
+				}
+
+				_initProgressDialog->appendText(tr("TextureMesh %1 created [cameras=%2] (%3/%4).").arg(iter->first).arg(cameraPoses.size()).arg(++i).arg(clouds.size()));
+				_initProgressDialog->incrementStep();
+				QApplication::processEvents();
+			}
+
+		}
+
 		return true;
 	}
 	return false;
@@ -4782,14 +4862,9 @@ void MainWindow::exportBundlerFormat()
 						out << t.x() << " " << t.y() << " " << t.z() << "\n";
 					}
 
-					QMessageBox::Button b = QMessageBox::question(this,
+					QMessageBox::question(this,
 							tr("Exporting cameras in Bundler format..."),
-							tr("%1 cameras/images exported to directory \"%2\".\nDo you want to export the cloud/mesh (PLY)?").arg(poses.size()).arg(path),
-							QMessageBox::Yes | QMessageBox::No);
-					if(b == QMessageBox::Yes)
-					{
-						this->exportClouds();
-					}
+							tr("%1 cameras/images exported to directory \"%2\".").arg(poses.size()).arg(path));
 					fileList.close();
 				}
 				fileOut.close();
@@ -4987,7 +5062,11 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
 				_initProgressDialog->appendText(tr("Saving the mesh (%1 polygons)...").arg(meshes.begin()->second->polygons.size()));
 
 				bool success =false;
-				if(QFileInfo(path).suffix() == "ply")
+				if(QFileInfo(path).suffix() == "")
+				{
+					path += ".ply";
+				}
+				else if(QFileInfo(path).suffix() == "ply")
 				{
 					if(binaryMode)
 					{
@@ -4998,18 +5077,9 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
 						success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second) == 0;
 					}
 				}
-				else if(QFileInfo(path).suffix() == "")
+				else if(QFileInfo(path).suffix() == "obj")
 				{
-					//default ply
-					path += ".ply";
-					if(binaryMode)
-					{
-						success = pcl::io::savePLYFileBinary(path.toStdString(), *meshes.begin()->second) == 0;
-					}
-					else
-					{
-						success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second) == 0;
-					}
+					success = pcl::io::saveOBJFile(path.toStdString(), *meshes.begin()->second) == 0;
 				}
 				else
 				{
@@ -5035,38 +5105,177 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
 	}
 	else if(meshes.size())
 	{
-		QString path = QFileDialog::getExistingDirectory(this, tr("Save to (*.ply)..."), _preferencesDialog->getWorkingDirectory(), 0);
+		QString path = QFileDialog::getExistingDirectory(this, tr("Save to (*.ply *.obj)..."), _preferencesDialog->getWorkingDirectory(), 0);
+		if(!path.isEmpty())
+		{
+			bool ok = false;
+			QStringList items;
+			items.push_back("ply");
+			items.push_back("obj");
+			QString suffix = QInputDialog::getItem(this, tr("File format"), tr("Which format?"), items, 0, false, &ok);
+
+			if(ok)
+			{
+				QString prefix = QInputDialog::getText(this, tr("File prefix"), tr("Prefix:"), QLineEdit::Normal, "mesh", &ok);
+
+				if(ok)
+				{
+					for(std::map<int, pcl::PolygonMesh::Ptr>::const_iterator iter=meshes.begin(); iter!=meshes.end(); ++iter)
+					{
+						if(iter->second->polygons.size())
+						{
+							pcl::PolygonMesh mesh;
+							mesh.polygons = iter->second->polygons;
+							pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
+							pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
+							tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
+							pcl::toPCLPointCloud2(*tmp, mesh.cloud);
+
+							QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
+							bool success =false;
+							if(suffix == "ply")
+							{
+								if(binaryMode)
+								{
+									success = pcl::io::savePLYFileBinary(pathFile.toStdString(), mesh) == 0;
+								}
+								else
+								{
+									success = pcl::io::savePLYFile(pathFile.toStdString(), mesh) == 0;
+								}
+							}
+							else if(suffix == "obj")
+							{
+								success = pcl::io::saveOBJFile(pathFile.toStdString(), mesh) == 0;
+							}
+							else
+							{
+								UFATAL("Extension not recognized! (%s)", suffix.toStdString().c_str());
+							}
+							if(success)
+							{
+								_initProgressDialog->appendText(tr("Saved mesh %1 (%2 polygons) to %3.")
+										.arg(iter->first).arg(iter->second->polygons.size()).arg(pathFile));
+							}
+							else
+							{
+								_initProgressDialog->appendText(tr("Failed saving mesh %1 (%2 polygons) to %3.")
+										.arg(iter->first).arg(iter->second->polygons.size()).arg(pathFile));
+							}
+						}
+						else
+						{
+							_initProgressDialog->appendText(tr("Mesh %1 is empty!").arg(iter->first));
+						}
+						_initProgressDialog->incrementStep();
+						QApplication::processEvents();
+					}
+				}
+			}
+		}
+	}
+}
+
+void MainWindow::saveTextureMeshes(const std::map<int, pcl::TextureMesh::Ptr> & meshes)
+{
+	if(meshes.size() == 1)
+	{
+		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+QDir::separator()+"mesh.obj", tr("Mesh (*.obj)"));
+		if(!path.isEmpty())
+		{
+			if(meshes.begin()->second->tex_materials.size())
+			{
+				_initProgressDialog->appendText(tr("Saving the mesh (with %1 textures)...").arg(meshes.begin()->second->tex_materials.size()));
+
+				bool success =false;
+				if(QFileInfo(path).suffix() == "")
+				{
+					path += ".obj";
+				}
+
+				pcl::TextureMesh mesh;
+				mesh.tex_coordinates = meshes.begin()->second->tex_coordinates;
+				mesh.tex_materials = meshes.begin()->second->tex_materials;
+				QDir(QFileInfo(path).absoluteDir().absolutePath()).mkdir(QFileInfo(path).baseName());
+				for(unsigned int i=0;i<meshes.begin()->second->tex_materials.size(); ++i)
+				{
+					QFileInfo info(mesh.tex_materials[i].tex_file.c_str());
+					QString fullPath = QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName()+QDir::separator()+info.fileName();
+					// relative path
+					mesh.tex_materials[i].tex_file=(QFileInfo(path).baseName()+QDir::separator()+info.fileName()).toStdString();
+					if(!QFile::copy(meshes.begin()->second->tex_materials[i].tex_file.c_str(), fullPath))
+					{
+						_initProgressDialog->appendText(tr("Failed copying texture \"%1\" to \"%2\".")
+								.arg(meshes.begin()->second->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
+						_initProgressDialog->setAutoClose(false);
+					}
+				}
+				mesh.tex_polygons = meshes.begin()->second->tex_polygons;
+				mesh.cloud = meshes.begin()->second->cloud;
+
+				success = pcl::io::saveOBJFile(path.toStdString(), mesh) == 0;
+				if(success)
+				{
+					_initProgressDialog->incrementStep();
+					_initProgressDialog->appendText(tr("Saving the mesh (with %1 textures)... done.").arg(mesh.tex_materials.size()));
+
+					QMessageBox::information(this, tr("Save successful!"), tr("Mesh saved to \"%1\"").arg(path));
+				}
+				else
+				{
+					QMessageBox::warning(this, tr("Save failed!"), tr("Failed to save to \"%1\"").arg(path));
+				}
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Save failed!"), tr("No textures..."));
+			}
+		}
+	}
+	else if(meshes.size())
+	{
+		QString path = QFileDialog::getExistingDirectory(this, tr("Save to (*.obj)..."), _preferencesDialog->getWorkingDirectory(), 0);
 		if(!path.isEmpty())
 		{
 			bool ok = false;
 			QString prefix = QInputDialog::getText(this, tr("File prefix"), tr("Prefix:"), QLineEdit::Normal, "mesh", &ok);
-			QString suffix = "ply";
+			QString suffix = "obj";
 
 			if(ok)
 			{
-				for(std::map<int, pcl::PolygonMesh::Ptr>::const_iterator iter=meshes.begin(); iter!=meshes.end(); ++iter)
+				for(std::map<int, pcl::TextureMesh::Ptr>::const_iterator iter=meshes.begin(); iter!=meshes.end(); ++iter)
 				{
-					if(iter->second->polygons.size())
+					QString currentPrefix=prefix+QString::number(iter->first);
+					if(iter->second->tex_materials.size())
 					{
-						pcl::PolygonMesh mesh;
-						mesh.polygons = iter->second->polygons;
-						pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
+						pcl::TextureMesh mesh;
+						mesh.tex_coordinates = iter->second->tex_coordinates;
+						mesh.tex_materials = iter->second->tex_materials;
+						QDir(path).mkdir(currentPrefix);
+						for(unsigned int i=0;i<iter->second->tex_materials.size(); ++i)
+						{
+							QFileInfo info(mesh.tex_materials[i].tex_file.c_str());
+							QString fullPath = path+QDir::separator()+currentPrefix+QDir::separator()+info.fileName();
+							// relative path
+							mesh.tex_materials[i].tex_file=(currentPrefix+QDir::separator()+info.fileName()).toStdString();
+							if(!QFile::copy(iter->second->tex_materials[i].tex_file.c_str(), fullPath))
+							{
+								_initProgressDialog->appendText(tr("Failed copying texture \"%1\" to \"%2\".")
+										.arg(iter->second->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
+								_initProgressDialog->setAutoClose(false);
+							}
+						}
+						mesh.tex_polygons = iter->second->tex_polygons;
+						pcl::PointCloud<pcl::PointNormal>::Ptr tmp(new pcl::PointCloud<pcl::PointNormal>);
 						pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
 						tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
 						pcl::toPCLPointCloud2(*tmp, mesh.cloud);
 
-						QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
+						QString pathFile = path+QDir::separator()+QString("%1.%3").arg(currentPrefix).arg(suffix);
 						bool success =false;
-						if(suffix == "ply")
+						if(suffix == "obj")
 						{
-							if(binaryMode)
-							{
-								success = pcl::io::savePLYFileBinary(pathFile.toStdString(), mesh) == 0;
-							}
-							else
-							{
-								success = pcl::io::savePLYFile(pathFile.toStdString(), mesh) == 0;
-							}
+							success = pcl::io::saveOBJFile(pathFile.toStdString(), mesh) == 0;
 						}
 						else
 						{
@@ -5074,13 +5283,13 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
 						}
 						if(success)
 						{
-							_initProgressDialog->appendText(tr("Saved mesh %1 (%2 polygons) to %3.")
-									.arg(iter->first).arg(iter->second->polygons.size()).arg(pathFile));
+							_initProgressDialog->appendText(tr("Saved mesh %1 (%2 textures) to %3.")
+									.arg(iter->first).arg(iter->second->tex_materials.size()-1).arg(pathFile));
 						}
 						else
 						{
-							_initProgressDialog->appendText(tr("Failed saving mesh %1 (%2 polygons) to %3.")
-									.arg(iter->first).arg(iter->second->polygons.size()).arg(pathFile));
+							_initProgressDialog->appendText(tr("Failed saving mesh %1 (%2 textures) to %3.")
+									.arg(iter->first).arg(iter->second->tex_materials.size()-1).arg(pathFile), Qt::darkRed);
 						}
 					}
 					else
@@ -5203,17 +5412,14 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
 	}
 }
 
-std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr > MainWindow::getClouds(
+std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
 		const std::map<int, Transform> & poses,
 		bool regenerateClouds,
 		int regenerateDecimation,
 		float regenerateVoxelSize,
-		float regenerateMaxDepth,
-		int normalKSearch,
-		bool mls,
-		float mlsRadius) const
+		float regenerateMaxDepth) const
 {
-	std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
+	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
 	int i=0;
 	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 	{
@@ -5265,28 +5471,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr > MainWindow::getClou
 
 			if(cloud->size())
 			{
-				if(mls)
-				{
-					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals = util3d::computeNormalsSmoothed(
-							cloud,
-							mlsRadius,
-							true,
-							regenerateVoxelSize);
-
-					if(regenerateVoxelSize)
-					{
-						cloudWithNormals = util3d::voxelize(
-								cloudWithNormals,
-								regenerateVoxelSize);
-					}
-
-					cloud->clear();
-					pcl::copyPointCloud(*cloudWithNormals, *cloud);
-				}
-
-				pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals = util3d::computeNormals(cloud, _exportDialog->getMeshNormalKSearch());
-
-				clouds.insert(std::make_pair(iter->first, cloudWithNormals));
+				clouds.insert(std::make_pair(iter->first, cloud));
 				inserted = true;
 			}
 		}

guilib/src/ui/mainWindow.ui

@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -987,7 +987,7 @@
   </action>
   <action name="actionSave_point_cloud">
    <property name="text">
-    <string>Export 3D clouds (*.ply *.pcd)...</string>
+    <string>Export 3D clouds (*.ply *.pcd *.obj)...</string>
    </property>
   </action>
   <action name="actionDownload_all_clouds">