how to load Area Description File to Android Studio and retrieve the data from ADF to use in indoor navigation app?

I'm a newbie in Augmented Reality trying to create an indoor navigation application with Tango Project and Rajawali Engine.

I'm struggling in this point as follows: - Adding a ADF file to Android Studio - Loading the ADF file within Android Studio, extracting the data from ADF file and draw to the Camera surface like this:

This is an example

Thank you for your help. I hope to receive an answer in details.