diff --git a/Thirdparty/Sophus/CMakeLists.txt b/Thirdparty/Sophus/CMakeLists.txt
index 933445b..4918fdf 100644
--- a/Thirdparty/Sophus/CMakeLists.txt
+++ b/Thirdparty/Sophus/CMakeLists.txt
@@ -97,17 +97,17 @@ target_compile_features (sophus INTERFACE
 add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES})
 
 # Create 'test' make target using ctest
-option(BUILD_TESTS "Build tests." ON)
-if(BUILD_TESTS)
-    enable_testing()
-    add_subdirectory(test)
-endif()
+#option(BUILD_TESTS "Build tests." ON)
+#if(BUILD_TESTS)
+#    enable_testing()
+#    add_subdirectory(test)
+#endif()
 
 # Create examples make targets using ctest
-option(BUILD_EXAMPLES "Build examples." ON)
-if(BUILD_EXAMPLES)
-    add_subdirectory(examples)
-endif()
+#option(BUILD_EXAMPLES "Build examples." ON)
+#if(BUILD_EXAMPLES)
+#    add_subdirectory(examples)
+#endif()
 
 # Export package for use from the build tree
 set(SOPHUS_CMAKE_EXPORT_DIR ${CMAKE_INSTALL_DATADIR}/sophus/cmake)
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..96d1c09
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,40 @@
+echo "Configuring and building Thirdparty/DBoW2 ..."
+
+cd Thirdparty/DBoW2
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j
+
+cd ../../g2o
+
+echo "Configuring and building Thirdparty/g2o ..."
+
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j
+
+cd ../../Sophus
+
+echo "Configuring and building Thirdparty/Sophus ..."
+
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j
+
+cd ../../../
+
+echo "Uncompress vocabulary ..."
+
+cd Vocabulary
+tar -xf ORBvoc.txt.tar.gz
+cd ..
+
+echo "Configuring and building ORB_SLAM3 ..."
+
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Release
+make -j4