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 cmake-build*
 .idea
 CMakeLists.txt.user
-build
-thirdparty/build-*
+build*
 scripts/eval/eval_*
 scripts/eval_full/eval_*
diff --git a/README.md b/README.md
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--- a/README.md
+++ b/README.md
@@ -60,6 +60,9 @@ NOTE: It is possible to compile the code on Ubuntu 16.04, but you need to instal
 * [Visual-inertial odometry and mapping.](doc/VioMapping.md)
 * [Simulation tools to test different components of the system.](doc/Simulation.md)
 
+## Development
+* [Development environment setup.](doc/DevSetup.md)
+
 ## Licence
 The code is provided under a BSD 3-clause license. See the LICENSE file for details.
 Note also the different licenses of thirdparty submodules.
diff --git a/doc/DevSetup.md b/doc/DevSetup.md
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+
+
+### Clang-format
+We use clang-format to maintain a consistent formating of the code. Since there are small differences between different version of clang-format we use version 8 on all platforms.
+
+On Ubuntu 18.04 run the following commands to install clang-format-8
+```
+wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
+sudo sh -c 'echo "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-8 main" > /etc/apt/sources.list.d/llvm8.list'
+sudo apt-get install clang-format-8
+```
+
+On MacOS [Homebrew](https://brew.sh/) should install the right version of clang-format:
+```
+brew install clang-format
+```
+
+### Install and configure QtCreator
+Download and install QtCreator. On Ubuntu 18.04 run:
+```
+wget https://download.qt.io/official_releases/qtcreator/4.9/4.9.0/qt-creator-opensource-linux-x86_64-4.9.0.run
+chmod +x qt-creator-opensource-linux-x86_64-4.9.0.run
+./qt-creator-opensource-linux-x86_64-4.9.0.run
+```
+
+On MacOS run:
+```
+wget https://download.qt.io/official_releases/qtcreator/4.9/4.9.0/qt-creator-opensource-mac-x86_64-4.9.0.dmg
+open qt-creator-opensource-mac-x86_64-4.9.0.dmg
+```
+
+After installation, go to `Help` -> `About plugins...` in the menu and enable Beautifier plugin (formats the code automatically on save):
+
+![qt_creator_plugins](/doc/img/qt_creator_plugins.png)
+
+Go to `Tools` -> `Options` and select the Beautifier tab. There select ClangFormat as the tool in `General` tab.
+
+![qt_creator_beautifier_general](/doc/img/qt_creator_beautifier_general.png)
+
+Select file as predefined style in `Clang Format` tab. Also select `None` as the fallback style. **For Ubuntu 18.04** change the executable name to `/usr/bin/clang-format-8`.
+
+![qt_creator_beautifier_clang_format](/doc/img/qt_creator_beautifier_clang_format.png)
+
+### Build project
+First, clone the project repository.
+```
+git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git
+```
+
+After that, in QtCreator open to the `CMakeLists.txt` in the `basalt` folder and configure the project with `Release with Debug Info` configuration. The build directory should point to `/<your_installation_path>/basalt/build`.
+
+Finally, you should be able to build and run the project.
+
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