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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. If you need to build from source, you have to clone the repository instead of downloading the Zip file to ensure all the submodule dependencies in place.

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 to run the SDK and tests

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

The list of libraries and tools that must be installed is maintained in a Dockerfile used by our CI system. Extract and run the install list from the Dockerfile to ensure your machine has required dependencies.

The depth engine is needed as well. The depth engine (DE) is a closed source binary shipped with the Linux Debian package. As an example, run apt install libk4a1.3 to install the Azure Kinect 1.3 and get the depth engine. See using the depth engine for information about versioning and adding the Microsoft's Package Repository to your machine. NOTE This step is not need for building, but is required running the SDK

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.

    Release Build:

    cmake .. -GNinja

    Debug Build:

    cmake .. -GNinja -DCMAKE_BUILD_TYPE=Debug

  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.

C# Wrapper

The C# Wrapper is not included in the primary CMake build systems, it is built using the standard Visual Studio MSBuild build system. The C# build depends on files generated by the CMake and Ninja build systems. Therefore the CMake configuration steps generates files that will be consumed by the C# Build and Test systems to find the needed components. Therefore, you need to run the CMake configuration and build before loading the C# solution.

  1. Build the project with the configuration for the k4a.dll you want to build against. (e.g. x64 RelWithDebInfo)
  2. Open the K4a.sln solution
  3. Build C# from within Visual Studio

NOTE: Running a configure step again, such as opening the folder in Visual Studio, will overwrite the settings and can break the C# build.