This paper presents a system to reconstruct piecewise planar and compact floorplans from images, which are then converted to high quality texture-mapped models for free- viewpoint visualization. There are two main challenges in image-based floorplan reconstruction. The first is the lack of 3D information that can be extracted from images by Structure from Motion and Multi-View Stereo, as indoor scenes abound with non-diffuse and homogeneous surfaces plus clutter. The second challenge is the need of a sophisticated regularization technique that enforces piecewise planarity, to suppress clutter and yield high quality texture mapped models. Our technical contributions are twofold. First, we propose a novel structure classification technique to classify each pixel to three regions (floor, ceiling, and wall), which provide 3D cues even from a single image. Second, we cast floorplan reconstruction as a shortest path problem on a specially crafted graph, which enables us to enforce piecewise planarity. Besides producing compact piecewise planar models, this formulation allows us to directly control the number of vertices (i.e., density) of the output mesh. We evaluate our system on real indoor scenes, and show that our texture mapped mesh models provide compelling free-viewpoint visualization experiences, when compared against the state-of-the-art and ground truth.