PROCESSOR-SDK-J721E: How to build the RTOS SDK

We are using the Jacinto 7 board for our application.  We are using RTOS SDK and version is 07_02_00_06.  We are using the new camera to get the video pipeline using single camera application.  For the new camera, driver is created in imaging/sensor_drv/src directory as mentioned in the document.  Document link is mentioned below:

http://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/latest/exports/docs/psdk_rtos/docs/user_guide/developer_notes_image_sensor.html

In this doc, it is mentioned that we have to build the Imaging folder followed by sdk build. 

Imaging folder is built.  To build the SDK, I followed the below document.  Document link is mentioned below:

https://software-dl.ti.com/processor-sdk-rtos/esd/docs/latest/rtos/index_overview.html#building-the-sdk

In the above link, it is mentioned that we can build the sdk using the top level makefile.  But there is no top level makefile in mentioned directory.  When I try to set the environmental setup, it shows 'bash: setupenv.sh: No such file or directory'.

1. Is sdk build necessary one for single camera application(we built imaging and vision_apps folders successfully)?

2. If yes, how to build the RTOS SDK (version: 07_02_00_06)?

Please provide some useful links to build the RTOS SDK.