Install Pico SDK first. See Getting started with Raspberry Pi Pico-series to learn how to do that.

Then:

mkdir build; cd build
PICO_SDK_PATH=/home/$(whoami)/pico/pico-sdk cmake ..
make -j 8

1. Press and hold BOOTSEL button.
2. Plug the USB cable into the computer.
3. Release the BOOTSEL.
4. Mount /dev/sda1 (for example, using dolphin file manager; it is just one click there).
5. Copy .uf2 file generated into RP2350 Removable Device.
6. Raspberry Pi Pico 2W (rp2350) should start blinking.