From 517c70d8555eac0fdb5cda1cd60aeb7e8f3c6d0b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 13 Jul 2017 13:36:34 -0400
Subject: [PATCH] CMake: added ANDROID_PREBUILD option

---
 CMakeLists.txt                               |  8 +++
 corelib/src/CMakeLists.txt                   |  2 +-
 docker/xenial/android/Dockerfile             | 12 +++--
 docker/xenial/android/install_deps.bash      | 53 ++++++++++++--------
 docker/xenial/android/setup_android_env.bash |  7 +--
 docker/xenial/android/tango/Dockerfile       |  2 +-
 docker/xenial/android/tango/build.bash       | 33 ++++++++----
 7 files changed, 76 insertions(+), 41 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fa1a1247..127d4784 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,6 +95,14 @@ IF(APPLE)
    SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
 ENDIF()
 
+####### ANDROID_PREBUILD (early exit if true) #######
+OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
+IF(ANDROID_PREBUILD)
+   MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
+   ADD_SUBDIRECTORY( utilite )
+   return()
+ENDIF(ANDROID_PREBUILD)
+
 ####### Build libraries as shared or static #######
 OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
 
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index 90216152..93fcc840 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -344,7 +344,7 @@ SET(RESOURCES_HEADERS
 IF(ANDROID)
 
    IF(NOT RTABMAP_RES_TOOL)
-      find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool)
+      find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
       IF(NOT RTABMAP_RES_TOOL)
          MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
       ENDIF(NOT RTABMAP_RES_TOOL)
diff --git a/docker/xenial/android/Dockerfile b/docker/xenial/android/Dockerfile
index 55ed51ea..cddad9ff 100644
--- a/docker/xenial/android/Dockerfile
+++ b/docker/xenial/android/Dockerfile
@@ -1,6 +1,12 @@
 # Image: introlab3it/rtabmap:android-deps
 
-FROM introlab3it/rtabmap
+FROM ubuntu:16.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      git \
+      cmake \
+      software-properties-common
 
 ENV ANDROID_HOME=/opt/android-sdk
 ENV ANDROID_NATIVE_API_LEVEL=android-19
@@ -11,8 +17,8 @@ WORKDIR /root/
 
 ADD setup_android_env.bash /root/setup_android_env.bash
 RUN chmod +x setup_android_env.bash
-RUN /bin/bash -c "./setup_android_env.bash"
+RUN /bin/bash -c "./setup_android_env.bash /opt"
 
 ADD install_deps.bash /root/install_deps.bash
 RUN chmod +x install_deps.bash
-RUN /bin/bash -c "./install_deps.bash"
+RUN /bin/bash -c "./install_deps.bash /opt/android"
diff --git a/docker/xenial/android/install_deps.bash b/docker/xenial/android/install_deps.bash
index 1e337ad9..9eddd063 100644
--- a/docker/xenial/android/install_deps.bash
+++ b/docker/xenial/android/install_deps.bash
@@ -1,5 +1,18 @@
 #!/bin/bash
 
+if [ $# -ne 1 ]; then
+    echo "install_deps.bash android_install_prefix   # Example: install_deps.bash /opt/android"
+    exit 1
+fi
+
+prefix=$1
+pwd=$(pwd)
+wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
+
+# Install directory for all dependencies
+mkdir -p $prefix/armeabi-v7a
+mkdir -p $prefix/arm64-v8a
+
 # Boost
 echo "wget boost..."
 wget -nv https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz
@@ -9,11 +22,11 @@ wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/4
 wget -nv https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/e7fbf0e301cfea417a7aa69989a761a4de08b8c3/CMakeLists.txt
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -26,11 +39,11 @@ tar -xzf 3.2.7.tar.gz
 cd eigen-eigen-b30b87236a1b
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -43,11 +56,11 @@ unzip -qq flann-1.8.4-src.zip
 cd flann-1.8.4-src
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make 
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -62,11 +75,11 @@ wget -nv https://gist.github.com/matlabbe/726b490c658afd3293f4b3f2f501b863/raw/d
 git apply gtsam_GKlib_android_fix.patch
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make 
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -77,11 +90,11 @@ git clone https://github.com/RainerKuemmerle/g2o.git
 cd g2o
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -100,13 +113,13 @@ cd VTK
 git checkout tags/v7.1.1
 mkdir build
 cd build
-~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
-cp -r CMakeExternals/Install/vtk-android/* /opt/android/armeabi-v7a/.
+cp -r CMakeExternals/Install/vtk-android/* $prefix/armeabi-v7a/.
 rm -r *
-~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+~/cmake-3.7.2-Linux-x86_64/bin/cmake -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_ANDROID_BUILD=ON -DANDROID_ARCH_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
-cp -r CMakeExternals/Install/vtk-android/* /opt/android/arm64-v8a/.
+cp -r CMakeExternals/Install/vtk-android/* $prefix/arm64-v8a/.
 cd
 rm -r VTK cmake-3.7.2-Linux-x86_64
 
@@ -120,14 +133,14 @@ 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=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -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/armeabi-v7a ..
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -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/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
 make install
 rm -r *
 # do it 2 times because there is a cmake error on the first time and not the second time!?
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -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/arm64-v8a ..
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -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/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
@@ -143,11 +156,11 @@ cd opencv
 git checkout tags/3.2.0
 mkdir build
 cd build
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ..
 make
 make install
 rm -r *
-cmake -DCMAKE_TOOLCHAIN_FILE=/root/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ..
+cmake -DCMAKE_TOOLCHAIN_FILE=$pwd/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DOPENCV_EXTRA_MODULES_PATH=$pwd/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ..
 make
 make install
 cd
diff --git a/docker/xenial/android/setup_android_env.bash b/docker/xenial/android/setup_android_env.bash
index 794afaec..dedad170 100644
--- a/docker/xenial/android/setup_android_env.bash
+++ b/docker/xenial/android/setup_android_env.bash
@@ -22,9 +22,4 @@ 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/.
-
-# Install directory for all dependencies
-mkdir -p /opt/android/armeabi-v7a
-mkdir -p /opt/android/arm64-v8a
-wget -nv https://github.com/introlab/rtabmap/raw/master/cmake_modules/android.toolchain.cmake
\ No newline at end of file
+mv android-ndk-r14 $ANDROID_NDK
diff --git a/docker/xenial/android/tango/Dockerfile b/docker/xenial/android/tango/Dockerfile
index 74ea6fe4..2f25fb1d 100644
--- a/docker/xenial/android/tango/Dockerfile
+++ b/docker/xenial/android/tango/Dockerfile
@@ -6,6 +6,6 @@ WORKDIR /root/
 
 ADD build.bash /root/build.bash
 RUN chmod +x build.bash
-RUN /bin/bash -c "./build.bash"
+RUN /bin/bash -c "./build.bash /opt/android"
 
 WORKDIR /root/
diff --git a/docker/xenial/android/tango/build.bash b/docker/xenial/android/tango/build.bash
index 4f1817c0..8a07a392 100644
--- a/docker/xenial/android/tango/build.bash
+++ b/docker/xenial/android/tango/build.bash
@@ -1,5 +1,12 @@
 #!/bin/bash
 
+if [ $# -ne 1 ]; then
+    echo "build.bash android_install_prefix   # Example: build.bash /opt/android"
+    exit 1
+fi
+
+prefix=$1
+
 # get rtabmap
 git clone https://github.com/introlab/rtabmap.git rtabmap-tango
 
@@ -7,33 +14,39 @@ git clone https://github.com/introlab/rtabmap.git rtabmap-tango
 wget https://developers.google.com/tango/downloads/TangoSDK_Ikariotikos_C.zip
 unzip -qq TangoSDK_Ikariotikos_C.zip
 rm TangoSDK_Ikariotikos_C.zip
-cp -r lib_tango_client_api/include/* /opt/android/armeabi-v7a/include/.
-cp -r lib_tango_client_api/include/* /opt/android/arm64-v8a/include/.
-cp -r lib_tango_client_api/lib/armeabi-v7a/* /opt/android/armeabi-v7a/lib/.
-cp -r lib_tango_client_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/.
+cp -r lib_tango_client_api/include/* $prefix/armeabi-v7a/include/.
+cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_client_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
 rm -r lib_tango_client_api
 wget https://developers.google.com/tango/downloads/TangoSupport_Ikariotikos_C.zip
 unzip -qq TangoSupport_Ikariotikos_C.zip
 rm TangoSupport_Ikariotikos_C.zip
-cp -r lib_tango_support_api/include/* /opt/android/armeabi-v7a/include/.
-cp -r lib_tango_support_api/include/* /opt/android/arm64-v8a/include/.
-cp -r lib_tango_support_api/lib/armeabi-v7a/* /opt/android/armeabi-v7a/lib/.
-cp -r lib_tango_support_api/lib/arm64-v8a/* /opt/android/arm64-v8a/lib/.
+cp -r lib_tango_support_api/include/* $prefix/armeabi-v7a/include/.
+cp -r lib_tango_support_api/include/* $prefix/arm64-v8a/include/.
+cp -r lib_tango_support_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
+cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
 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_Ikariotikos_Java.jar
 mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
 
+# resource tool
+mkdir rtabmap-tango/build
+cd rtabmap-tango/build
+cmake --DANDROID_PREBUILD=ON ..
+make
+
 # rtabmap
 mkdir rtabmap-tango/build/armeabi-v7a
 cd rtabmap-tango/build/armeabi-v7a
-cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/android/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/armeabi-v7a ../..
+cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ../..
 make
 
 cd
 mkdir rtabmap-tango/build/arm64-v8a
 cd rtabmap-tango/build/arm64-v8a
-cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/android/arm64-v8a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a ../..
+cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ../..
 make
 
 # package with binaries of both architectures