Depends on : OpenCV(3.0+)
.C++11 or C++0X
.Eigen3

If you want to use visualization.
Please install Pangolin(https://github.com/stevenlovegrove/Pangolin)
Open USE_VIEWER MACROS in cmakelist.txt

You can run ./build.sh at root path for compiling this program;

sudo ./install.sh install #install program
sudo ./install.sh uninstall #uninstall program

or

use sudo ./instal.sh directly