When creating a new Android project you only need
- add a link to the OpenCV project by going to the menu "Properties"> "Android"> "Library"> "Add and selecting the OpenCV library project"
You should not explicitly add an OpenCV library project to your new way to create an Android project:
- add another link to your OpenCV project by choosing Properties> Java Build Path> Projects> Add ...
If you take the last step, you will get the exact error Could not find OpenCV-2.3.1.apk! described in the question.
Check out the new way to create an Android project and delete the OpenCV project, if it exists, then give it another try and see if that helps.
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