Before all the cmd, DONOT forget to download the Vocabulary form the origin repo and place it into dir ./Vocabulary
chmod +x build.sh
./build.sh mkdir build
cd build
cmake ..
make -j ./run/rgbd_tum Vocabulary/ORBvoc.bin path_to_settings path_to_sequence path_to_association- adding a pointcloud viewer with loopclosing ( realized by adding a viewer thread )