bump 0.21.7

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 21)
-SET(RTABMAP_PATCH_VERSION 6)
+SET(RTABMAP_PATCH_VERSION 7)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
 

app/ios/RTABMapApp.xcodeproj/project.pbxproj

@@ -1013,7 +1013,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.21.0;
+				MARKETING_VERSION = 0.21.7;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1070,7 +1070,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.21.0;
+				MARKETING_VERSION = 0.21.7;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;

app/ios/RTABMapApp/ViewController.swift

@@ -779,14 +779,18 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
                 self.optimization(approach: -1)
             }),
             optimizeAdvancedMenu])
+
+        // Advanced menu
+        let advancedMenu = UIMenu(title: "Advanced...", children: [
+            UIAction(title: "New Data Recording", image: UIImage(systemName: "plus.app"), attributes: actionNewDataRecording ? [] : .disabled, state: .off, handler: { _ in
+            	self.newScan(dataRecordingMode: true)
+        	})
+        ])
 
         var fileMenuChildren: [UIMenuElement] = []
         fileMenuChildren.append(UIAction(title: "New Mapping Session", image: UIImage(systemName: "plus.app"), attributes: actionNewScanEnabled ? [] : .disabled, state: .off, handler: { _ in
             self.newScan()
         }))
-        fileMenuChildren.append(UIAction(title: "New Data Recording", image: UIImage(systemName: "plus.app"), attributes: actionNewDataRecording ? [] : .disabled, state: .off, handler: { _ in
-            self.newScan(dataRecordingMode: true)
-        }))
         if(actionOptimizeEnabled) {
             fileMenuChildren.append(optimizeMenu)
         }
@@ -807,6 +811,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         fileMenuChildren.append(UIAction(title: "Append Scan", image: UIImage(systemName: "play.fill"), attributes: actionResumeEnabled ? [] : .disabled, state: .off, handler: { _ in
             self.resumeScan()
         }))
+        fileMenuChildren.append(advancedMenu)
 
         // File menu
         let fileMenu = UIMenu(title: "File", options: .displayInline, children: fileMenuChildren)

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap</name>
-  <version>0.21.6</version>
+  <version>0.21.7</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>