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At present Qt3D is only available as source from git. To build Qt3D you need the dev branch of the qtbase, qtdeclarative, qtimageformats (optional but needed for some examples) and qt3d itself. Be sure to explicitly checkout the dev branch of the qt3d repository for now as by default it still checks out the old master branch. This will be fixed in the near future.
To build Qt3D please follow the generic instructions for building Qt 5 from git at Building Qt 5 from Git.