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Building and Dependencies

This information is for how to build your own copy of the SDK binaries. Most users of the Azure Kinect DK should not need to re-build the SDK, if you just need to use the SDK see usage for more information.

Support Configurations

Compilers:

  • MSVC (Windows)
  • Clang (Linux)
  • GCC (Linux)

Architectures:

  • amd64
  • x86 (limited, no testing is performed)

Toolchain files in cmake/toolchains are mainly used for our CI system but can be used to test specific flavors if needed.

Dependencies

Building on Windows and Linux requires an active internet connection. Part of the build will require downloading dependencies.

Windows Dependencies

The following tools are required to build on Windows:

  • VS2017. Contains the toolchains for building. Please be sure to install the following workloads:

    • Desktop development with C++
    • Linux development with C++ (Visual C++ tools for CMake and Linux)

    Also make sure the following components are selected:

    • Visual C++ Tools for CMake
    • Test adapter for Google Test

  • cmake. Add CMake to the PATH. Must be version 3.10 or higher. Only necessary if your version of VS2017 is less than 15.3 or you have not installed the "Linux development with C++" workload as part of your VS installation.

  • ninja. Add ninja to the PATH. Only necessary if your version of VS2017 is less than 15.3 or you have not installed the "Linux development with C++" workload as part of your VS installation.

  • tar. Note, if you are running Windows 10 version 17063 or later, this comes installed by default.

  • python3. During the install make sure to add python to path.

  • Depth Engine. The depth engine (DE) is a closed source binary shipped with the SDK installer. The DE binary needs to be copied to the host system and added to the path. NOTE This step is not need for building, but is required running the SDK

The following tools are optional:

  • Doxygen. Add doxygen to the PATH. Required for building documentation. To use, pass the CMake parameter -DK4A_BUILD_DOCS=1

  • Clang-Format. Please download clang v6.0.0 since that is what we are using to format our code. To invoke, call ninja clangformat

If you are building from a command prompt, it must be a x64 Visual Studio developer command prompt in order for CMake to find the installed compilers. We build both 32-bit and 64-bit binaries, but 64-bit binaries are the only binaries that are tested. (The command prompt should be called something like x64 Native Tools Command Prompt for VS 2017). Note: call the command line tool with the option -arch=amd64 for x64 builds i.e VsDevCmd.bat -arch=amd64

NOTE: You can run scripts/verify-windows.ps1 to verify that your Windows PC is setup properly.

Linux Dependencies

Most of these dependencies should be available through the distribution's package manager.

  • CMake. Add CMake to the PATH. Must be version 3.10 or higher. If your distribution has a version of CMake that is too old, you can download and build CMake from source.

  • ninja. Add ninja to the PATH.

  • gcc or clang (6.0.0)

  • pkgconfig

  • python3

  • doxygen (optional)

  • zip (needed for VS cross compiled builds)

  • libssl

  • uuid-dev

  • Depth Engine. The depth engine (DE) is a closed source binary shipped with the SDK installer. The DE binary needs to be copied to the host system and added to the path. NOTE This step is not need for building, but is required running the SDK

If you are using Ubuntu, you can use our CI script bootstrap-ubuntu.sh to download and install all needed tools and libraries.

Building

Building using a terminal (cross platform)

  1. Create a folder named "build" in the root of the git repo and cd into that directory.

    mkdir build && cd build

  2. Run CMake from that directory. The preferred build is ninja. All other generators are untested.

    cmake .. -GNinja

  3. Run the build (ninja).

    ninja

Building using Visual Studio

Visual Studio 2017 supports opening CMake based projects directly. Use File / Open / CMake ... to open the root CMakeLists.txt in the project.

To cross compile for Linux on Windows you can run a pre-configured docker container with the tools needed for Visual Studio.