diff --git a/.gitignore b/.gitignore
index ddbb5d2..d8bfb2c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,3 +16,5 @@
 *.synctex.gz
 ceres.pdf
 ceres-solver.pdf
+obj/
+jni/libs/
diff --git a/jni/Android.mk b/jni/Android.mk
new file mode 100644
index 0000000..ef31946
--- /dev/null
+++ b/jni/Android.mk
@@ -0,0 +1,176 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: settinger@google.com (Scott Ettinger)
+#         keir@google.com (Keir Mierle)
+#
+# Builds Ceres for Android, using the standard toolchain (not standalone). It
+# uses STLPort instead of GNU C++. This is useful for anyone wishing to ship
+# GPL-free code. This cannot build the tests or other parts of Ceres; only the
+# core libraries. If you need a more complete Ceres build, consider using the
+# CMake toolchain (noting that the standalone toolchain doesn't work with
+# STLPort).
+#
+# You will have to specify the environment EIGEN_PATH to point to the Eigen
+# sources when building. For example:
+#
+#   EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
+#
+# It is also possible to specify CERES_EXTRA_DEFINES, in case you need to pass
+# more definitions to the C compiler.
+#
+# IMPORTANT:
+#
+# The shared library built at the bottom is fake, broken, and empty. It exists
+# only to force ndk-build to build the shared library. This shouldn't be
+# necessary, but if it is missing, then ndk-build will do nothing when asked to
+# build. The produced .so library is NON-FUNCTIONAL since it has no Ceres
+# function-level dependencies. Instead, copy the static library:
+#
+#   ../obj/local/armeabi-v7a/libceres.a
+#
+# into your own project, then link it into your binary in your Android.mk file.
+#
+# Reducing binary size:
+#
+# This build includes the Schur specializations, which cause binary bloat. If
+# you don't need them for your application, consider adding:
+#
+#   -DCERES_RESTRICT_SCHUR_SPECIALIZATION
+#
+# to the LOCAL_CFLAGS variable below, and commenting out all the
+# generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one.
+
+LOCAL_PATH := $(call my-dir)
+
+EIGEN_PATH := $(EIGEN_PATH)
+
+CERES_INCLUDE_PATHS := ../internal
+CERES_INCLUDE_PATHS += ../internal/ceres
+CERES_INCLUDE_PATHS += ../include
+CERES_INCLUDE_PATHS += ../internal/ceres/miniglog
+CERES_SRC_PATH := ../internal/ceres
+
+include $(CLEAR_VARS)
+LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
+LOCAL_C_INCLUDES += $(EIGEN_PATH)
+
+LOCAL_CPP_EXTENSION := .cc
+LOCAL_CPPFLAGS += -O3
+LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
+                -DCERES_DONT_HAVE_PROTOCOL_BUFFERS \
+                -DCERES_NO_SUITESPARSE \
+                -DCERES_NO_GFLAGS \
+                -DCERES_NO_THREADS \
+                -DCERES_NO_CXSPARSE \
+                -DCERES_NO_TR1
+
+LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
+                   $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
+                   $(CERES_SRC_PATH)/block_jacobian_writer.cc \
+                   $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
+                   $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
+                   $(CERES_SRC_PATH)/block_random_access_matrix.cc \
+                   $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/block_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/block_structure.cc \
+                   $(CERES_SRC_PATH)/canonical_views_clustering.cc \
+                   $(CERES_SRC_PATH)/cgnr_solver.cc \
+                   $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
+                   $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/conditioned_cost_function.cc \
+                   $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
+                   $(CERES_SRC_PATH)/corrector.cc \
+                   $(CERES_SRC_PATH)/dense_qr_solver.cc \
+                   $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/detect_structure.cc \
+                   $(CERES_SRC_PATH)/dogleg_strategy.cc \
+                   $(CERES_SRC_PATH)/evaluator.cc \
+                   $(CERES_SRC_PATH)/file.cc \
+                   $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
+                   $(CERES_SRC_PATH)/implicit_schur_complement.cc \
+                   $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
+                   $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
+                   $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
+                   $(CERES_SRC_PATH)/linear_operator.cc \
+                   $(CERES_SRC_PATH)/linear_solver.cc \
+                   $(CERES_SRC_PATH)/local_parameterization.cc \
+                   $(CERES_SRC_PATH)/loss_function.cc \
+                   $(CERES_SRC_PATH)/normal_prior.cc \
+                   $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
+                   $(CERES_SRC_PATH)/polynomial_solver.cc \
+                   $(CERES_SRC_PATH)/problem.cc \
+                   $(CERES_SRC_PATH)/problem_impl.cc \
+                   $(CERES_SRC_PATH)/program.cc \
+                   $(CERES_SRC_PATH)/residual_block.cc \
+                   $(CERES_SRC_PATH)/residual_block_utils.cc \
+                   $(CERES_SRC_PATH)/runtime_numeric_diff_cost_function.cc \
+                   $(CERES_SRC_PATH)/schur_complement_solver.cc \
+                   $(CERES_SRC_PATH)/schur_eliminator.cc \
+                   $(CERES_SRC_PATH)/schur_ordering.cc \
+                   $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
+                   $(CERES_SRC_PATH)/solver.cc \
+                   $(CERES_SRC_PATH)/solver_impl.cc \
+                   $(CERES_SRC_PATH)/sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
+                   $(CERES_SRC_PATH)/split.cc \
+                   $(CERES_SRC_PATH)/stringprintf.cc \
+                   $(CERES_SRC_PATH)/suitesparse.cc \
+                   $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/trust_region_minimizer.cc \
+                   $(CERES_SRC_PATH)/trust_region_strategy.cc \
+                   $(CERES_SRC_PATH)/types.cc \
+                   $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
+                   $(CERES_SRC_PATH)/visibility.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc
+
+LOCAL_MODULE := ceres
+include $(BUILD_STATIC_LIBRARY)
+
+# This is a fake library; see the file header comments.
+include $(CLEAR_VARS)
+LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
+LOCAL_C_INCLUDES += $(EIGEN_PATH)
+LOCAL_MODULE := forces_static_ceres_build_do_not_use
+LOCAL_STATIC_LIBRARIES := ceres
+include $(BUILD_SHARED_LIBRARY)
diff --git a/jni/Application.mk b/jni/Application.mk
new file mode 100644
index 0000000..462823d
--- /dev/null
+++ b/jni/Application.mk
@@ -0,0 +1,38 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+APP_BUILD_SCRIPT := $(call my-dir)/Android.mk
+APP_PROJECT_PATH := $(call my-dir)
+
+APP_CPPFLAGS += -fno-exceptions
+APP_CPPFLAGS += -fno-rtti
+APP_OPTIM := release
+
+# Don't use GNU libstdc++; instead use STLPort, which is free of GPL3 issues.
+APP_STL := stlport_static
+APP_ABI := armeabi-v7a