diff --git a/docker/xenial/android/Dockerfile b/docker/xenial/android/Dockerfile
index 708dd16f..f945e7d6 100644
--- a/docker/xenial/android/Dockerfile
+++ b/docker/xenial/android/Dockerfile
@@ -1,6 +1,11 @@
 FROM introlab3it/rtabmap
 
+ENV ANDROID_HOME=/opt/android-sdk
+ENV ANDROID_NATIVE_API_LEVEL=android-19
+ENV ANDROID_NDK=/opt/android-ndk-r14
+ENV PATH=$PATH:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-ndk-r14
+
 WORKDIR /root/
 ADD install_deps.bash /root/install_deps.bash
 RUN chmod +x install_deps.bash
-RUN /bin/bash -c "./install_deps.bash"
\ No newline at end of file
+RUN /bin/bash -c "./install_deps.bash"
diff --git a/docker/xenial/android/install_deps.bash b/docker/xenial/android/install_deps.bash
index 3eddaea9..c5166cac 100644
--- a/docker/xenial/android/install_deps.bash
+++ b/docker/xenial/android/install_deps.bash
@@ -7,63 +7,63 @@ apt-get install -y unzip wget ant
 apt-get install -y default-jre default-jdk
 
 # Setup android sdk
-export ANDROID_HOME="/opt/android-sdk"
-export PATH="${PATH}:${ANDROID_HOME}/tools/:${ANDROID_HOME}/platform-tools/"
-wget https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
+echo "wget android-sdk..."
+wget -nv https://dl.google.com/android/repository/tools_r25.2.3-linux.zip
 unzip -qq tools_r25.2.3-linux.zip
 rm tools_r25.2.3-linux.zip
-mkdir ${ANDROID_HOME}
-mv tools ${ANDROID_HOME}/.
+mkdir $ANDROID_HOME
+mv tools $ANDROID_HOME/.
 #android list sdk --all --extended
 echo y | android update sdk --no-ui --all --filter platform-tools,android-19,build-tools-19.1.0
 
 # Setup android ndk
-wget https://dl.google.com/android/repository/android-ndk-r14-linux-x86_64.zip
+echo "wget android-ndk..."
+wget -nv https://dl.google.com/android/repository/android-ndk-r14-linux-x86_64.zip
 unzip -qq android-ndk-r14-linux-x86_64.zip
 rm android-ndk-r14-linux-x86_64.zip
 mv android-ndk-r14 /opt/.
-export ANDROID_NATIVE_API_LEVEL=android-19
-export ANDROID_NDK=/opt/android-ndk-r14
-export PATH="${PATH}:${ANDROID_NDK}"
 
 # Install directory for all dependencies
-mkdir -p android/share
-wget https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
-mv android.toolchain.cmake android/share/.
+mkdir -p /opt/android/share
+wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
+mv android.toolchain.cmake /opt/android/share/.
 
 # Boost
-wget https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
+echo "wget boost..."
+wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
 tar -xzf boost_1_59_0.tar.gz
 cd boost_1_59_0
-wget https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
-wget https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in
+wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make
 make install
 cd
 rm -r boost_1_59_0.tar.gz boost_1_59_0
 
 # eigen
-wget http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
+echo "wget eigen..."
+wget -nv http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz
 tar -xzf 3.2.7.tar.gz
 cd eigen-eigen-b30b87236a1b
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make
 make install
 cd
 rm -r 3.2.7.tar.gz eigen-eigen-b30b87236a1b
 
 # FLANN
-wget http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
+echo "wget flann..."
+wget -nv http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip
 unzip -qq flann-1.8.4-src.zip
 cd flann-1.8.4-src
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make 
 make install
 cd
@@ -74,11 +74,11 @@ git clone https://bitbucket.org/gtborg/gtsam.git
 cd gtsam
 git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
 # patch
-wget https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
+wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/df09fc8e238a495d66b062d92dc1c1fb20a581e8/gtsam_GKlib_android_fix.patch
 git apply gtsam_GKlib_android_fix.patch
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make 
 make install
 cd
@@ -89,7 +89,7 @@ git clone https://github.com/RainerKuemmerle/g2o.git
 cd g2o
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make
 make install
 cd
@@ -97,7 +97,8 @@ rm -r g2o
 
 
 #CMake 3.7 for VTK
-wget https://cmake.org/files/v3.7/cmake-3.7.2-Linux-x86_64.tar.gz
+echo "wget cmake3.7..."
+wget -nv https://cmake.org/files/v3.7/cmake-3.7.2-Linux-x86_64.tar.gz
 tar -xzf cmake-3.7.2-Linux-x86_64.tar.gz
 rm cmake-3.7.2-Linux-x86_64.tar.gz
 
@@ -107,9 +108,9 @@ cd VTK
 git checkout tags/v7.1.1
 mkdir build
 cd build
-~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make
-cp -r CMakeExternals/Install/vtk-android/* ~/android/.
+cp -r CMakeExternals/Install/vtk-android/* /opt/android/.
 cd
 rm -r VTK cmake-3.7.2-Linux-x86_64
 
@@ -118,28 +119,21 @@ git clone https://github.com/PointCloudLibrary/pcl.git
 cd pcl
 git checkout tags/pcl-1.8.0
 # patch
-wget https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b97cf6dda9aa9487ee75a3cc4e8826b216a1ad06/pcl_1_8_0_vtk_android_support.patch
+wget -nv https://gist.github.com/matlabbe/41812e50e459b2f27b331a2343569e5d/raw/b97cf6dda9aa9487ee75a3cc4e8826b216a1ad06/pcl_1_8_0_vtk_android_support.patch
 git apply pcl_1_8_0_vtk_android_support.patch
 mkdir build
 cd build
 # do it 2 times because there is a cmake error on the first time and not the second time!?
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
-cmake -DCMAKE_TOOLCHAIN_FILE=~/android/share/android.toolchain.cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=/opt/android/share/android.toolchain.cmake -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make
 make install
 cd
 rm -r pcl
 
 # OpenCV
-wget https://downloads.sourceforge.net/project/opencvlibrary/opencv-android/3.2.0/opencv-3.2.0-android-sdk.zip
+echo "wget opencv..."
+wget -nv https://downloads.sourceforge.net/project/opencvlibrary/opencv-android/3.2.0/opencv-3.2.0-android-sdk.zip
 unzip -qq opencv-3.2.0-android-sdk.zip
 rm opencv-3.2.0-android-sdk.zip
 mv OpenCV-android-sdk /opt/.
-
-# setup environment variables
-echo "export ANDROID_HOME=\"/opt/android-sdk\"" >> ~/.bashrc
-echo "export PATH=\"${PATH}:${ANDROID_HOME}/tools/:${ANDROID_HOME}/platform-tools/\"" >> ~/.bashrc
-echo "export ANDROID_NATIVE_API_LEVEL=android-19" >> ~/.bashrc
-echo "export ANDROID_NDK=/opt/android-ndk-r14" >> ~/.bashrc
-echo "export PATH=\"${PATH}:${ANDROID_NDK}\"" >> ~/.bashrc
-source ~/.bashrc
diff --git a/docker/xenial/android/tango/Dockerfile b/docker/xenial/android/tango/Dockerfile
index 79dc5b6a..a798ccf0 100644
--- a/docker/xenial/android/tango/Dockerfile
+++ b/docker/xenial/android/tango/Dockerfile
@@ -1,4 +1,4 @@
-FROM introlab3it:rtabmap-android-deps
+FROM introlab3it/rtabmap-android-deps
 
 WORKDIR /root/
 
@@ -6,4 +6,4 @@ ADD build.bash /root/build.bash
 RUN chmod +x build.bash
 RUN /bin/bash -c "./build.bash"
 
-WORKDIR /root/rtabmap-android/build/app/android/bin
\ No newline at end of file
+WORKDIR /root/rtabmap-android/build/app/android/bin
diff --git a/docker/xenial/android/tango/build.bash b/docker/xenial/android/tango/build.bash
index b47ce6a7..a20f0589 100644
--- a/docker/xenial/android/tango/build.bash
+++ b/docker/xenial/android/tango/build.bash
@@ -1,16 +1,19 @@
 #!/bin/bash
 
+echo $PATH
+env
+
 # get rtabmap
 git clone https://github.com/introlab/rtabmap.git rtabmap-tango
 
 # tango
 wget https://developers.google.com/tango/downloads/TangoSDK_Farandole_C.zip
 unzip -qq TangoSDK_Farandole_C.zip
-cp -r lib_tango_client_api/* android/.
+cp -r lib_tango_client_api/* /opt/android/.
 rm -r lib_tango_client_api
 wget https://developers.google.com/tango/downloads/TangoSupport_Farandole_C.zip
 unzip -qq TangoSupport_Farandole_C.zip
-cp -r lib_tango_support_api/* android/.
+cp -r lib_tango_support_api/* /opt/android/.
 cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
 rm -r lib_tango_support_api
 wget https://developers.google.com/tango/downloads/TangoSDK_Farandole_Java.jar
@@ -18,5 +21,5 @@ mv TangoSDK_Farandole_Java.jar rtabmap-tango/app/android/libs/.
 
 # rtabmap
 cd rtabmap-tango/build
-cmake -DCMAKE_TOOLCHAIN_FILE=../cmake_modules/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/OpenCV-android-sdk/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$HOME/android ..
+cmake -DCMAKE_TOOLCHAIN_FILE=../cmake_modules/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/OpenCV-android-sdk/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android ..
 make