diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index 304b37a2..9efee1c8 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -224,22 +224,27 @@ SET(RESOURCES_HEADERS
 )
 
 IF(ANDROID)
-IF(NOT URESOURCEGENERATOR)
-   MESSAGE( FATAL_ERROR "URESOURCEGENERATOR is not defined (it should point out on \"uresourcegenerator\" application created by a non-Android build), CMake will exit." )
-ENDIF(NOT URESOURCEGENERATOR)
-ADD_CUSTOM_COMMAND(
-   OUTPUT ${RESOURCES_HEADERS}
-   COMMAND ${URESOURCEGENERATOR} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
-   COMMENT "[Creating resources]"
-   DEPENDS ${R}
-)
+
+   IF(NOT RTABMAP_RES_TOOL)
+      find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool)
+      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)
+   ENDIF(NOT RTABMAP_RES_TOOL)
+
+   ADD_CUSTOM_COMMAND(
+      OUTPUT ${RESOURCES_HEADERS}
+      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+      COMMENT "[Creating resources]"
+      DEPENDS ${R}
+   )
 ELSE()
-ADD_CUSTOM_COMMAND(
-   OUTPUT ${RESOURCES_HEADERS}
-   COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/uresourcegenerator -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
-   COMMENT "[Creating resources]"
-   DEPENDS ${R} uresourcegenerator
-)
+   ADD_CUSTOM_COMMAND(
+      OUTPUT ${RESOURCES_HEADERS}
+      COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/rtabmap-res_tool -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+      COMMENT "[Creating resources]"
+      DEPENDS ${R} res_tool
+   )
 ENDIF()
 
 ####################################
diff --git a/utilite/resource_generator/CMakeLists.txt b/utilite/resource_generator/CMakeLists.txt
index 1384a692..40489b14 100644
--- a/utilite/resource_generator/CMakeLists.txt
+++ b/utilite/resource_generator/CMakeLists.txt
@@ -12,12 +12,17 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
 # Add binary called "resource_tool" that is built from the source file "main.cpp".
 # The extension is automatically found.
-ADD_EXECUTABLE(uresourcegenerator ${SRC_FILES})
-TARGET_LINK_LIBRARIES(uresourcegenerator rtabmap_utilite)
-
+ADD_EXECUTABLE(res_tool ${SRC_FILES})
+TARGET_LINK_LIBRARIES(res_tool rtabmap_utilite)
+ 
 SET_TARGET_PROPERTIES(
-uresourcegenerator 
+res_tool 
 PROPERTIES
  VERSION ${UTILITE_VERSION} 
  SOVERSION ${UTILITE_VERSION}
-)
\ No newline at end of file
+ OUTPUT_NAME ${PROJECT_PREFIX}-res_tool
+)
+
+INSTALL(TARGETS res_tool
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
\ No newline at end of file