1.) if ./docs is empty, run command "doxygen" 2.) See docs/html/index.html 3.) If using Bullet make sure you compile bullet with Double Precision (USE_BULLET) on since optimization loses precision if used with float 4.) Use install.bash for compiling the package 5.) Required Dependencies: GSL (libgsl0-dev) Eigen3(>= 3.1) (>= 3.3.4 for Ubuntu 16.04, >= 3.3.7 for Ubuntu 18.04) (libeigen3-dev) GLUT (freeglut3-dev) For Ubuntu 12.04 see below INSTRUCTIONS 6.) Optional Dependencies: OpenCV(>= 2.4), OpenGL (For bins) DSL (https://github.com/jhu-asco/dsl), Ceres (http://ceres-solver.org/), Casadi (https://github.com/casadi/casadi) (commit 54bde1c242fbb229e05fe87310dce3371b1a4af9) 7.) For Ubuntu 12.04 install Ceres version 1.9.0. Ceres also depends on glog which can be installed from https://github.com/google/glog . For Ubuntu 14.04 glog can be installed as " sudo apt-get install libgoogle-glog-dev " 8.) For Ubuntu 12.04 you cannot libeigen3-dev as it will install Eigen 3.0.5. So you have to install from source. We tested with Eigen 3.2.7 and works fine (http://bitbucket.org/eigen/eigen/get/3.2.7.tar.gz) 9.) Compilers Tested ON g++ 4.6.3 g++ 4.8.4 10.) Ceres Should be version 1.10 or higher. DO NOT sudo apt-get install ceres on Ubuntu. Even if you did download ceres from source (http://ceres-solver.org/)