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You can use setColorFilter in the icon click action. See the example:
 img1.setOnClickListener(new View.OnClickListener() {
    @Override
    public void onClick(View v) {
        img1.setColorFilter(0xff00aa00, PorterDuff.Mode.MULTIPLY);
        img2.clearColorFilter();
        img3.clearColorFilter();
    }
});
put 'onclick' as an example, in the case of the menu, you use colorFilter in the menu action...
