diff --git a/CameraParameterEstimation/apps/README.md b/CameraParameterEstimation/apps/README.md
index 06c7866..c2bc5e0 100644
--- a/CameraParameterEstimation/apps/README.md
+++ b/CameraParameterEstimation/apps/README.md
@@ -1 +1,6 @@
-TODO: Descibe dependiencies and what is necessary to build these.
\ No newline at end of file
+### Building
+
+To bulid camera parameter estimation application you need to install `glew` and `glfw` libraries.
+On Ubuntu they are available through `apt-get` and on macOS they can be installed using `homebrew`.
+
+Once the libraries are installed navigate to the `src` folder for eack app and run `make` command.
\ No newline at end of file
diff --git a/CameraParameterEstimation/apps/basics/argparse.h b/CameraParameterEstimation/apps/basics/argparse.h
index 6284e32..3dd6b51 100644
--- a/CameraParameterEstimation/apps/basics/argparse.h
+++ b/CameraParameterEstimation/apps/basics/argparse.h
@@ -14,7 +14,7 @@
 #include <string>
 #include <vector>
 #include <unordered_map>
-
+#include <algorithm>
 namespace bsc
 {
   template <typename T>
@@ -351,7 +351,7 @@ parse ( int argc, char** argv )
   int n_args = args_to_parse.size();
 
   // parse value to correct argument
-  auto parse_argument = [ &args_to_parse, &idx, n_args ]
+  auto parse_argument = [ &args_to_parse, &idx ]
                         ( std::string to_parse, 
                           argument<std::string>* str_arg, 
                           argument<char*>* cstr_arg, 
@@ -603,4 +603,4 @@ print_help() const
   exit(-1);
 }
 
-#endif //BSC_IMPLEMENTATION
\ No newline at end of file
+#endif //BSC_IMPLEMENTATION
diff --git a/CameraParameterEstimation/apps/basics/basics.h b/CameraParameterEstimation/apps/basics/basics.h
index 245cc86..dd4c345 100644
--- a/CameraParameterEstimation/apps/basics/basics.h
+++ b/CameraParameterEstimation/apps/basics/basics.h
@@ -65,42 +65,25 @@
 ////////////////////////////////////////////////////////////////////////////////
 
 #ifdef BSC_USE_WINDOW // Graphics through window
-  
-  // glew for opengl extension
-  // TODO(maciej): To be removed and replaced with some inline loader
-  #ifndef __EMSCRIPTEN__
-    #if defined(_WIN32) || defined(_WIN64)
-      #include "GL/glew.h"
-    #endif
-  #else
-    #define GLFW_INCLUDE_ES2
-  #endif
-
-  // glfw configuration
-  // TODO(maciej): Unlikely in near feature, but we might strip this.
-  #define GLFW_INCLUDE_GLCOREARB  /* don't drag in legacy GL headers. */
+  #define GLFW_INCLUDE_NONE
   #define GLFW_NO_GLU 
   #include "GLFW/glfw3.h"
+#endif
 
-#else  // offscreen rendering
-
-  #ifdef __APPLE__
-    #include <OpenGL/gl3.h>
-    #include <OpenGL/OpenGL.h>
-    #include <OpenGL/CGLTypes.h>
-    #include <OpenGL/CGLCurrent.h>
-  #endif
-
-  #ifdef __unix__
-    #include <GL/glew.h>
-    #include <GL/gl.h>
-    #include <GL/glext.h>
-    #include <GL/osmesa.h>
-  #endif
-  
-  //TODO: Windows
+#ifdef __APPLE__
+  #include <OpenGL/gl3.h>
+  #include <OpenGL/OpenGL.h>
+  #include <OpenGL/CGLTypes.h>
+  #include <OpenGL/CGLCurrent.h>
+#endif
 
+#if defined(__linux__)
+  #include <GL/glew.h>
+  #include <GL/gl.h>
+  #include <GL/glext.h>
 #endif
+  
+//TODO: Windows
 
 
 // tiny_dir for easy directory stepping and file name/extension tokenizing
diff --git a/CameraParameterEstimation/apps/basics/common.h b/CameraParameterEstimation/apps/basics/common.h
index fe1d73d..cf4b074 100644
--- a/CameraParameterEstimation/apps/basics/common.h
+++ b/CameraParameterEstimation/apps/basics/common.h
@@ -164,7 +164,7 @@ namespace bsc
   string_hash ( const char * str )
   {
     int hash = 0;
-    for ( int i = 0; i < strlen( str ) ; ++i )
+    for ( int i = 0; i < (int)strlen( str ) ; ++i )
       hash = hash * 65599 + str[i];
     return hash;
   }
diff --git a/CameraParameterEstimation/apps/basics/gfx/camera.h b/CameraParameterEstimation/apps/basics/gfx/camera.h
index a442904..f16a161 100644
--- a/CameraParameterEstimation/apps/basics/gfx/camera.h
+++ b/CameraParameterEstimation/apps/basics/gfx/camera.h
@@ -131,13 +131,11 @@ pan( bsc::camera * cam,
      const bsc::mat4 * view,
      const bsc::vec4i * viewport )
 {
-  ui::state & UI = get_UI();
 
   i8 is_mmb = ui::is_mouse_held( ui::mmb );
 
   if ( is_mmb )
   {
-    vec2d mouse_pos  = UI.mouse_pos;
     vec2d mouse_drag = ui::get_mouse_drag_delta ( ui::mmb );
     if ( norm( mouse_drag ) == 0 ) return false;
 
diff --git a/CameraParameterEstimation/apps/basics/gfx/gpu_assets.h b/CameraParameterEstimation/apps/basics/gfx/gpu_assets.h
index 5eda197..0eaac4b 100644
--- a/CameraParameterEstimation/apps/basics/gfx/gpu_assets.h
+++ b/CameraParameterEstimation/apps/basics/gfx/gpu_assets.h
@@ -711,4 +711,4 @@ free_gpu_tex( gpu_texture * tex )
 //   glDeleteRenderbuffers( 1, &(rb->id) );
 // }
 
-#endif //BSC_IMPLEMENTATION
\ No newline at end of file
+#endif //BSC_IMPLEMENTATION
diff --git a/CameraParameterEstimation/apps/basics/gfx/image.h b/CameraParameterEstimation/apps/basics/gfx/image.h
index ec152ef..c3fe86f 100644
--- a/CameraParameterEstimation/apps/basics/gfx/image.h
+++ b/CameraParameterEstimation/apps/basics/gfx/image.h
@@ -262,13 +262,13 @@ read( const char * filename )
   if ( data != nullptr ) { free( data ); data=nullptr; }
 
   // determine extension
-  char * period = strrchr( filename, '.' );
+  const char * period = strrchr( filename, '.' );
   if ( period == NULL )
   {
     printf( "Image reading error -> No file extension\n" );
     return 0;
   }
-  char * extension = period + 1;
+  const char * extension = period + 1;
   
   // call appropriate function
   if ( !strcmp( extension, "jpg" ) || !strcmp( extension, "jpeg") )
@@ -379,14 +379,14 @@ template <typename T>
 i32 bsc::image<T>::
 write( const char * filename )
 {
-  char * period = strrchr( filename, '.' );
+  const char * period = strrchr( filename, '.' );
   if ( period == NULL )
   {
     error( "Image writing error", __LINE__, "No file extension" );
     return 0;
   }
 
-  char * extension = period + 1;
+  const char * extension = period + 1;
   if ( !strcmp( extension, "jpg" ) || !strcmp( extension, "jpeg") )
   {
     return write_jpg( filename, this );
@@ -522,4 +522,4 @@ at ( i32 x, i32 y )
     return &( this->data[ this->ncomp * (y * this->width + x )] );
 }
 
-#endif //BSC_IMAGE_H
\ No newline at end of file
+#endif //BSC_IMAGE_H
diff --git a/CameraParameterEstimation/apps/basics/window/win.h b/CameraParameterEstimation/apps/basics/window/win.h
index 2e18b61..e80ae2d 100644
--- a/CameraParameterEstimation/apps/basics/window/win.h
+++ b/CameraParameterEstimation/apps/basics/window/win.h
@@ -120,8 +120,7 @@ create_window ( const char * title, const i32 width, const i32 height,
 
   // lets get gl extension from glew
   // TODO: need to replace this library
-  #if defined(_WIN32) || defined(_WIN64)
-  #ifndef __EMSCRIPTEN__
+  #if defined(_WIN32) || defined(_WIN64) || defined(__linux__)
     glewExperimental = GL_TRUE;
     if ( glewInit() != GLEW_OK )
     {
@@ -129,20 +128,6 @@ create_window ( const char * title, const i32 width, const i32 height,
       return 0;
     }
   #endif
-  #endif
-
-  // lets create the vector graphics context
-  #ifdef __EMSCRIPTEN__
-    // g_window.vg = nvgCreateGLES2( NVG_ANTIALIAS | NVG_STENCIL_STROKES );
-  #else
-    // g_window.vg = nvgCreateGL3( NVG_ANTIALIAS | NVG_STENCIL_STROKES );
-  #endif
-
-  // if ( g_window.vg == NULL )
-  // {
-    // printf( "Could not init nanovg\n" );
-    // return 0;
-  // }
 
   // some sane opengl defaults
   glEnable( GL_DEPTH_TEST );
diff --git a/CameraParameterEstimation/apps/calibrate_depth/src/calibrate_depth.cpp b/CameraParameterEstimation/apps/calibrate_depth/src/calibrate_depth.cpp
index f8c55b8..933009e 100644
--- a/CameraParameterEstimation/apps/calibrate_depth/src/calibrate_depth.cpp
+++ b/CameraParameterEstimation/apps/calibrate_depth/src/calibrate_depth.cpp
@@ -114,6 +114,7 @@ ReadParametersFile( bsc::mat3 &intrinsics,
                     bsc::mat4 &extrinsics, 
                     const char* filename )
 {
+  int success = 1;
   intrinsics = bsc::mat3();
   extrinsics = bsc::mat4();
   FILE * params_file = fopen( filename, "r" );
@@ -127,7 +128,6 @@ ReadParametersFile( bsc::mat3 &intrinsics,
     {
       char cmd[1024];
       line_number++;
-      bool success = 1;
       if (sscanf(buffer, "%s =", cmd) != (unsigned int)1)
       {
         continue;
@@ -172,7 +172,7 @@ ReadParametersFile( bsc::mat3 &intrinsics,
       }
     }
     fclose(params_file);
-    return 1;
+    return success;
   }
   
   printf( "Could not open parameters file %s\n", filename );
@@ -207,10 +207,12 @@ ReadPlanePoses( bsc::mat4 depth_to_color,
   {
     // Load in the plane pose
     bsc::mat4 pose;
-    fscanf(fp, "%f %f %f %f", &(pose[0][0]), &(pose[1][0]), &(pose[2][0]), &(pose[3][0]));
-    fscanf(fp, "%f %f %f %f", &(pose[0][1]), &(pose[1][1]), &(pose[2][1]), &(pose[3][1]));
-    fscanf(fp, "%f %f %f %f", &(pose[0][2]), &(pose[1][2]), &(pose[2][2]), &(pose[3][2]));
-    fscanf(fp, "%f %f %f %f", &(pose[0][3]), &(pose[1][3]), &(pose[2][3]), &(pose[3][3]));
+    int returned_bytes = 0;
+    returned_bytes = fscanf(fp, "%f %f %f %f", &(pose[0][0]), &(pose[1][0]), &(pose[2][0]), &(pose[3][0]));
+    returned_bytes = fscanf(fp, "%f %f %f %f", &(pose[0][1]), &(pose[1][1]), &(pose[2][1]), &(pose[3][1]));
+    returned_bytes = fscanf(fp, "%f %f %f %f", &(pose[0][2]), &(pose[1][2]), &(pose[2][2]), &(pose[3][2]));
+    returned_bytes = fscanf(fp, "%f %f %f %f", &(pose[0][3]), &(pose[1][3]), &(pose[2][3]), &(pose[3][3]));
+    (void)returned_bytes;
 
     plane_poses.push_back( color_to_depth * pose  );
   }
@@ -609,10 +611,10 @@ ApplyUndistortion( const SequenceData * seq_data, const Options * opts )
     }
     std::string im_name = seq_data->image_names[im_idx];
     int name_length = im_name.length();
-    const char *img_name = im_name.substr(0, name_length - 4).c_str();
+    std::string img_name = im_name.substr(0, name_length - 4);
     char depth_name[256], depth_raw_name[256];
-    sprintf( depth_raw_name, "depth_raw/%s.png", img_name );
-    sprintf( depth_name, "depth/%s.png", img_name );
+    sprintf( depth_raw_name, "depth_raw/%s.png", img_name.c_str() );
+    sprintf( depth_name, "depth/%s.png", img_name.c_str() );
     raw_depth_im.read( depth_raw_name );
 
     for ( i32 j = 0; j < h; ++j )
@@ -1233,4 +1235,4 @@ int main(int argc, char **argv)
   bsc::main_loop();
 
   return 1;
-}
\ No newline at end of file
+}
diff --git a/CameraParameterEstimation/apps/calibrate_depth/src/makefile b/CameraParameterEstimation/apps/calibrate_depth/src/makefile
index a0d9e54..97fcc6a 100644
--- a/CameraParameterEstimation/apps/calibrate_depth/src/makefile
+++ b/CameraParameterEstimation/apps/calibrate_depth/src/makefile
@@ -7,7 +7,7 @@ LIB_DIR = /usr/local/lib
 OUT_DIR = ../out/
 BSC_DIR = ../../basics/
 IMGUI_DIR = $(BSC_DIR)extern/imgui/
-
+UNAME = $(shell uname -s)
 
 # List of source files
 SRCS =calibrate_depth.cpp  $(IMGUI_DIR)imgui.cpp $(IMGUI_DIR)imgui_draw.cpp
@@ -15,24 +15,35 @@ OBJS = $(SRCS:%.cpp=$(OUT_DIR)%.o)
 
 # Compile and link options
 CC = g++
-WARNINGS = -Wall
+WARNINGS = -Wall -Wno-unused-result
 CPPFLAGS = -std=c++11 -O -I. -I/usr/local/include  -I$(IMGUI_DIR) -I$(BSC_DIR) 
 
 # Libraries
-LIBS = -L$(LIB_DIR) -lglew -lglfw3 
+LIBS = -L$(LIB_DIR) 
 
 # Frameworks
 FRAMEWORKS = -framework OpenGL -framework GLUT
 
+ifeq ($(UNAME),Linux)
+	LIBS += -lGL -lGLEW -lglfw
+endif
+
+ifeq ($(UNAME),Darwin)
+	LIBS += $(FRAMEWORKS) -lglew -lglfw
+	CPPFLAGS += -DGL_SILENCE_DEPRECATION
+endif
+
 # Make targets
-all: clean calibrate_depth
+all: clean make_directories calibrate_depth
 
 calibrate_depth: $(OBJS)
-		$(CC) $(FRAMEWORKS) $(CPPFLAGS) $(OBJS) $(LIBS) -o ${BIN_DIR}${EXE_NAME}
+		$(CC) $(CPPFLAGS) $(OBJS) -o ${BIN_DIR}${EXE_NAME} $(LIBS)
 
 clean:
 		rm -f $(OUT_DIR)*.a $(OUT_DIR)*.o ${BIN_DIR}${EXE_NAME} ${BIN_DIR}${EXE_NAME}.exe
 
+make_directories:
+		mkdir -p ../out; mkdir -p ../../../bin	
 
 # Compile command
 $(OUT_DIR)%.o: %.cpp
diff --git a/CameraParameterEstimation/apps/calibration_explorer/src/calibration_explorer.cpp b/CameraParameterEstimation/apps/calibration_explorer/src/calibration_explorer.cpp
index e411e96..06c77a4 100644
--- a/CameraParameterEstimation/apps/calibration_explorer/src/calibration_explorer.cpp
+++ b/CameraParameterEstimation/apps/calibration_explorer/src/calibration_explorer.cpp
@@ -225,7 +225,7 @@ render_explorer_pointcloud( bsc::gpu_geometry *pointcloud_geo,
                             bool should_update, 
                             char * vs_src, char * fs_src )
 {
-  if ( pointcloud_geo->vao == -1 )
+  if ( pointcloud_geo->vao == (u32)-1 )
   {
     create_3d_pointcloud( pointcloud_geo, color_image, depth_image, K, true );
     bsc::create_shader_prog_from_source( vs_src, fs_src, pointcloud_shader );
@@ -345,7 +345,7 @@ transform_img ( const bsc::img_u16 *src,
   u32 n_pos = src->width * src->height;
   u32 size = n_pos * sizeof(bsc::vec3);
   vec3 * positions = (vec3*)malloc(size);
-  memset( positions, 0, size );
+  memset( (void*)positions, 0, size );
 
   // backproject
   for ( i32 y = 0 ; y < src->height ; y++ )
diff --git a/CameraParameterEstimation/apps/calibration_explorer/src/makefile b/CameraParameterEstimation/apps/calibration_explorer/src/makefile
index 746ecbd..730e706 100644
--- a/CameraParameterEstimation/apps/calibration_explorer/src/makefile
+++ b/CameraParameterEstimation/apps/calibration_explorer/src/makefile
@@ -5,34 +5,45 @@ EXE_NAME = calibration_explorer
 BIN_DIR = ../../../bin/
 LIB_DIR = /usr/local/lib/
 OUT_DIR = ../out/
-
 BSC_DIR  = ../../basics/
 IMGUI_DIR = $(BSC_DIR)extern/imgui/
 
+UNAME = $(shell uname -s)
 # List of source files
 SRCS = calibration_explorer.cpp $(IMGUI_DIR)imgui.cpp $(IMGUI_DIR)imgui_draw.cpp
 OBJS = $(SRCS:%.cpp=$(OUT_DIR)%.o)
 
 # Compile and link options
 CC = g++
-WARNINGS = -Wall
+WARNINGS = -Wall -Wno-unused-result
 CPPFLAGS = -std=c++11 -O -I. -I/usr/local/include  -I$(IMGUI_DIR) -I$(BSC_DIR) 
 
 # Libraries
-LIBS = -L$(LIB_DIR) -lglew -lglfw3 
+LIBS = -L$(LIB_DIR) 
 
 # Frameworks
-FRAMEWORKS = -framework opengl 
+FRAMEWORKS = -framework OpenGL -framework GLUT
+
+ifeq ($(UNAME),Linux)
+	LIBS += -lGL -lGLEW -lglfw
+endif
+
+ifeq ($(UNAME),Darwin)
+	LIBS += $(FRAMEWORKS) -lglew -lglfw
+	CPPFLAGS += -DGL_SILENCE_DEPRECATION
+endif
 
 # Make targets
-all: clean calibration_explorer
+all: clean make_directories calibration_explorer
 
 calibration_explorer: $(OBJS)
-		$(CC) $(FRAMEWORKS) $(CPPFLAGS) $(OBJS) $(LIBS) -o ${BIN_DIR}${EXE_NAME}
+		$(CC) $(CPPFLAGS) $(OBJS) -o ${BIN_DIR}${EXE_NAME} $(LIBS)
 
 clean:
 		rm -f $(OUT_DIR)*.a $(OUT_DIR)*.o ${BIN_DIR}${EXE_NAME} ${BIN_DIR}${EXE_NAME}.exe
 
+make_directories:
+		mkdir -p ../out; mkdir -p ../../../bin	
 
 # Compile command
 $(OUT_DIR)%.o: %.cpp
diff --git a/CameraParameterEstimation/tutorial/tutorial.md b/CameraParameterEstimation/tutorial/tutorial.md
index 941bad9..066b00f 100644
--- a/CameraParameterEstimation/tutorial/tutorial.md
+++ b/CameraParameterEstimation/tutorial/tutorial.md
@@ -85,7 +85,7 @@ __<lookup_table.lut>__. __calibrate_depth__ can use these when run in apply mode
 ~~~~~~~~
 calibrate_depth depth_distortion_calibration.conf --apply_undistortion <name_of_lookup_table.lut>
 ~~~~~~~~
-But this file formats will also work with [ScanNet](http://link) pipeline.
+But this file formats will also work with ScanNet pipeline.
 
 You can also run the __calibrate_depth__ without any argument to see how the
 images got undistorted.
@@ -108,3 +108,18 @@ well images are aligned.
 All calibration parameters are also exposed if some manual intervention is needed/wanted.
 You can pass __--output_parameters <parameters_filename.txt>__ to the 
 __calibration_explorer__ to be able to save the modified parameters.
+
+`validation.conf` file is a simple text file that lists all the input images and
+links to the __parameters.txt__ file.
+
+File should be formated as follows:
+~~~
+n_images <n_images>
+
+parameters <path to parameters.txt>
+scan <depth_image_name> <color_image_name>  1 0 0 0  0 1 0 0  0 0 1 0  0 0 0 1
+scan <depth_image_name> <color_image_name>  1 0 0 0  0 1 0 0  0 0 1 0  0 0 0 1
+scan <depth_image_name> <color_image_name>  1 0 0 0  0 1 0 0  0 0 1 0  0 0 0 1
+scan <depth_image_name> <color_image_name>  1 0 0 0  0 1 0 0  0 0 1 0  0 0 0 1
+...
+~~~