diff --git a/app/android/custom_rules.xml b/app/android/custom_rules.xml
index 6ce83384..b9d7a680 100644
--- a/app/android/custom_rules.xml
+++ b/app/android/custom_rules.xml
@@ -4,7 +4,10 @@
 			<fileset dir="${srcdir}/libs" includes="**/*.jar" excludes="**/*sources.jar, **/*javadoc.jar" />
 		</copy>
 		<copy todir="${native.libs.dir}/${android.abi}">
-			<fileset dir="${srcdir}/jni/third-party/lib" includes="**/*.so"/>
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="*.so"/>
 		</copy>
+                <copy todir="${native.libs.dir}">
+                        <fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
+                </copy>
 	</target>
-</project>
\ No newline at end of file
+</project>
diff --git a/app/android/jni/third-party/lib/.gitignore b/app/android/jni/third-party/lib/.gitignore
new file mode 100644
index 00000000..8d1c8b69
--- /dev/null
+++ b/app/android/jni/third-party/lib/.gitignore
@@ -0,0 +1 @@
+ 
diff --git a/app/android/jni/util.h b/app/android/jni/util.h
index b009c670..7d99ecbb 100644
--- a/app/android/jni/util.h
+++ b/app/android/jni/util.h
@@ -164,7 +164,11 @@ public:
 	bool visible;
 	rtabmap::CameraModel cameraModel;
 	float gain;
-	std::vector<Eigen::Vector2f> texCoords;
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+    	std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
+#else
+    	std::vector<Eigen::Vector2f> texCoords;
+#endif
 	cv::Mat texture;
 };
 
diff --git a/app/android/libs/TangoSDK_Eisa_Java.jar b/app/android/libs/TangoSDK_Eisa_Java.jar
deleted file mode 100644
index 77a2c68a..00000000
Binary files a/app/android/libs/TangoSDK_Eisa_Java.jar and /dev/null differ
diff --git a/cmake_modules/FindTango.cmake b/cmake_modules/FindTango.cmake
index 2f6b211a..fac3463f 100644
--- a/cmake_modules/FindTango.cmake
+++ b/cmake_modules/FindTango.cmake
@@ -8,8 +8,8 @@
 
 FIND_PATH(Tango_INCLUDE_DIR tango_client_api.h)
 
-FIND_LIBRARY(Tango_LIBRARY NAMES tango_client_api)
-FIND_LIBRARY(Tango_support_LIBRARY NAMES tango_support_api)
+FIND_LIBRARY(Tango_LIBRARY NAMES tango_client_api PATH_SUFFIXES ${ANDROID_ABI})
+FIND_LIBRARY(Tango_support_LIBRARY NAMES tango_support_api PATH_SUFFIXES ${ANDROID_ABI})
 
 IF (Tango_INCLUDE_DIR AND Tango_LIBRARY AND Tango_support_LIBRARY)
    SET(Tango_FOUND TRUE)