diff --git a/body-tracking-samples/CMakeLists.txt b/body-tracking-samples/CMakeLists.txt
index 2992139a..aeb642de 100644
--- a/body-tracking-samples/CMakeLists.txt
+++ b/body-tracking-samples/CMakeLists.txt
@@ -5,3 +5,4 @@ add_subdirectory(extern)
 add_subdirectory(simple_3d_viewer)
 add_subdirectory(simple_sample)
 add_subdirectory(sample_helper_libs)
+add_subdirectory(floor_detector_sample)
diff --git a/body-tracking-samples/floor_detector_sample/CMakeLists.txt b/body-tracking-samples/floor_detector_sample/CMakeLists.txt
new file mode 100644
index 00000000..e2375a78
--- /dev/null
+++ b/body-tracking-samples/floor_detector_sample/CMakeLists.txt
@@ -0,0 +1,17 @@
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License.
+
+
+add_executable(floor_detector_sample 
+    main.cpp
+    FloorDetector.cpp
+    PointCloudGenerator.cpp)
+
+target_include_directories(floor_detector_sample PRIVATE ../sample_helper_includes)
+
+# Dependencies of this library
+target_link_libraries(floor_detector_sample PRIVATE 
+    k4a
+    window_controller_3d::window_controller_3d
+    )
+
diff --git a/body-tracking-samples/sample_helper_includes/BodyTrackingHelpers.h b/body-tracking-samples/sample_helper_includes/BodyTrackingHelpers.h
index f7b1dfbc..996b88c0 100644
--- a/body-tracking-samples/sample_helper_includes/BodyTrackingHelpers.h
+++ b/body-tracking-samples/sample_helper_includes/BodyTrackingHelpers.h
@@ -6,6 +6,7 @@
 #include <array>
 #include <unordered_map>
 #include <k4abttypes.h>
+#include <string>
 
 // Define the bone list based on the documentation
 const std::array<std::pair<k4abt_joint_id_t, k4abt_joint_id_t>, 31> g_boneList =
diff --git a/body-tracking-samples/sample_helper_libs/window_controller_3d/CMakeLists.txt b/body-tracking-samples/sample_helper_libs/window_controller_3d/CMakeLists.txt
index 6b3b50b8..d4f2a56e 100644
--- a/body-tracking-samples/sample_helper_libs/window_controller_3d/CMakeLists.txt
+++ b/body-tracking-samples/sample_helper_libs/window_controller_3d/CMakeLists.txt
@@ -21,7 +21,7 @@ target_include_directories(window_controller_3d PRIVATE ../../sample_helper_incl
 target_include_directories(window_controller_3d PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 # Dependencies of this library
-target_link_libraries(window_controller_3d PRIVATE 
+target_link_libraries(window_controller_3d PUBLIC 
     glfw::glfw
     )
 
diff --git a/body-tracking-samples/simple_3d_viewer/CMakeLists.txt b/body-tracking-samples/simple_3d_viewer/CMakeLists.txt
index 18b21c2f..ac578e8c 100644
--- a/body-tracking-samples/simple_3d_viewer/CMakeLists.txt
+++ b/body-tracking-samples/simple_3d_viewer/CMakeLists.txt
@@ -1,6 +1,9 @@
 # Copyright (c) Microsoft Corporation. All rights reserved.
 # Licensed under the MIT License.
 
+find_package(k4arecord REQUIRED)
+
+
 add_executable(simple_3d_viewer main.cpp)
 
 target_include_directories(simple_3d_viewer PRIVATE ../sample_helper_includes)
@@ -9,7 +12,7 @@ target_include_directories(simple_3d_viewer PRIVATE ../sample_helper_includes)
 target_link_libraries(simple_3d_viewer PRIVATE 
     k4a
     k4abt
+    k4arecord
     window_controller_3d::window_controller_3d
-    glfw::glfw
     )