rtabmap/app/android/res/menu/optionmenu.xml

<?xml version="1.0" encoding="utf-8"?>
<menu xmlns:android="http://schemas.android.com/apk/res/android">
    
    <group android:id="@+id/group_pause" android:checkableBehavior="all">
        <item android:id="@+id/pause" android:checked="false" android:title="Pause"/>
    </group>
    
    <group android:id="@+id/group_actions">
       <item android:id="@+id/post_processing" android:title="Post-Processing...">
          <menu>
             <item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
             <item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
	            <menu>
	              <item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
	              <item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
	              <item android:id="@+id/icp_refining" android:title="ICP Refining" />
	              <item android:id="@+id/gain_compensation_fast" android:title="Adjust Colors (Fast)" />
	              <item android:id="@+id/gain_compensation_full" android:title="Adjust Colors (Full)" />
	              <item android:id="@+id/bilateral_filtering" android:title="Mesh Smoothing" />
	              <item android:id="@+id/sba" android:title="Bundle Adjustement" />
	              <item android:id="@+id/polygons_filtering" android:title="Noise Filtering" />
	            </menu>  
	         </item>
          </menu>
       </item>
       <item android:id="@+id/open" android:title="Open"/>
       <item android:id="@+id/export" android:title="Export...">
          <menu>
	         <group android:id="@+id/group_export">
	            <item android:id="@+id/export_ply" android:title="Mesh (.ply)" />
	            <item android:id="@+id/export_obj" android:title="Mesh with texture (*.obj)" />
	         </group>   
          </menu>
       </item>
       <item android:id="@+id/save" android:title="Save"/>
       <item android:id="@+id/reset" android:title="Reset"/>
       
       <item android:id="@+id/menu_rendering_settings" android:title="Rendering Options...">
        <menu >
        <group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
            <item android:id="@+id/debug" android:checked="false" android:title="Debug" />
            <item android:id="@+id/menu_rendering" android:checkable="false" android:title="Mesh Rendering..." >
           			<menu>
           			   <group android:checkableBehavior="single">
	           			   <item android:id="@+id/point_cloud" android:title="Point Cloud" />
				           <item android:id="@+id/mesh" android:title="Mesh" />
				           <item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
			           </group>
			           <item android:id="@+id/mesh_angle_tolerance" android:checkable="false" android:title="Mesh Angle Tolerance..." />
            		   <item android:id="@+id/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
            		   <item android:id="@+id/max_depth" android:checkable="false" android:title="Max Depth..." />
			       </menu>
            </item>
            <item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
            <item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />
            <item android:id="@+id/graph_visible" android:checked="true" android:title="Graph Visible" />
            <item android:id="@+id/grid_visible" android:checked="true" android:title="Grid Visible" />
            <item android:id="@+id/auto_exposure" android:checked="true" android:title="Auto Exposure" />
        </group>   
        </menu>
	    </item>
	    <item android:id="@+id/menu_mapping_settings" android:title="Mapping Options...">
	       <menu >
	       <group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all">
	           <item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
	           <item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
	           <item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
	           <item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
	           <item android:id="@+id/drift_correction" android:checked="false" android:title="Drift Correction" />
	           <item android:id="@+id/resolution" android:checked="false" android:title="HD Mode" />
	           <item android:id="@+id/data_recorder" android:checked="false" android:title="Data Recorder Mode" />
	           <item android:id="@+id/menu_param_settings" android:checkable="false" android:title="Parameters...">
		           <menu >
			           <item android:id="@+id/update_rate" android:title="Map Update Rate..." />
			           <item android:id="@+id/time_threshold" android:title="Time Threshold..." />
			           <item android:id="@+id/loop_threshold" android:title="Loop Closure Threshold..." />
			           <item android:id="@+id/optimize_error" android:title="Max Optimization Error..." />
			           <item android:id="@+id/features" android:title="Max Features Extracted..." />
			       </menu>
			    </item>
	       </group>   
	       </menu>
	   </item>
       
       <item android:id="@+id/about" android:title="About"/>
    </group>
</menu>