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Add DEPTHAI_INSTALL_PREFIX to depthaiConfig.cmake, install libusb DLL for every depthai example #1475

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Add DEPTHAI_INSTALL_PREFIX to depthaiConfig.cmake, install libusb DLL for every depthai example #1475

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64faa34
install libusb (brought in by vcpkg) alongside depthai-core if enabled
lnotspotl Sep 26, 2025
ad56060
update depthaiConfig.cmake.in to set the DEPTHAI_INSTALL_PREFIX path
lnotspotl Sep 26, 2025
8a07a8c
Merge branch 'develop' into lnotspotl/update_depthai_installation
lnotspotl Sep 29, 2025
0790ce0
Add usb-1.0 as a dependency for all depthai's examples
lnotspotl Sep 29, 2025
2aaeaa9
Update cmake/depthaiHelpers.cmake
lnotspotl Sep 30, 2025
f058ef0
fix add_runtime_dependencies bug
lnotspotl Sep 30, 2025
b3c5aa5
create symlinks as opposed to copies
lnotspotl Nov 30, 2025
c07ddbf
merge develop in
lnotspotl Nov 30, 2025
52e9df9
back to copies for some folders
lnotspotl Nov 30, 2025
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33 changes: 7 additions & 26 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -889,32 +889,9 @@ if(DEPTHAI_USB2_PATCH_ONLY_MODE)
target_compile_definitions(${TARGET_CORE_NAME} PRIVATE DEPTHAI_PATCH_ONLY_MODE)
endif()

# Helper function
macro(add_runtime_dependencies depending_target dependency)
if(TARGET ${dependency})
get_property(imported_configs TARGET ${dependency} PROPERTY IMPORTED_CONFIGURATIONS)
set(dlls "")
message(STATUS "Adding runtime dependencies for ${depending_target} on ${dependency}. Imported configurations: ${imported_configs}")
foreach(cfg ${imported_configs})
message(STATUS "Adding runtime dependencies for ${depending_target} on ${dependency} (${cfg})")
get_property(dll TARGET ${dependency} PROPERTY IMPORTED_LOCATION_${cfg})
message(STATUS "Retrieved dll for ${cfg}: '${dll}'")
list(APPEND dlls $<$<CONFIG:${cfg}>:${dll}>)
endforeach()
message(STATUS "Required dlls for ${depending_target} on ${dependency} are: ${dlls}")
endif()
# Create a list of required dll files
set(required_dll_files ${dlls})
# Copy the required dlls
if(WIN32)
add_custom_command(TARGET ${depending_target} POST_BUILD COMMAND
"$<$<BOOL:${required_dll_files}>:${CMAKE_COMMAND};-E;copy_if_different;${required_dll_files};$<TARGET_FILE_DIR:${depending_target}>>"
COMMAND_EXPAND_LISTS
VERBATIM
)
message(STATUS "Required dlls for core are: ${required_dll_files}")
endif()
endmacro()
# Include depthaiHelpers.cmake
include(${CMAKE_CURRENT_LIST_DIR}/cmake/depthaiHelpers.cmake)

# Add libusb dll in build time
add_runtime_dependencies(${TARGET_CORE_NAME} usb-1.0)
# Add dynamic calibration dll in build time
Expand Down Expand Up @@ -1297,4 +1274,8 @@ if(DEPTHAI_INSTALL)
DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}"
)

# Install vcpkg libraries that we link against dynamically
if(DEPTHAI_ENABLE_LIBUSB)
install(IMPORTED_RUNTIME_ARTIFACTS usb-1.0)
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@Serafadam Serafadam Sep 30, 2025

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I think we also need to do that for dynamic calibration library? I also think this makes add_runtime_dependencies obsolete (at least that was the case when building deb packages for ROS)

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@lnotspotl lnotspotl Sep 30, 2025

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You're making a really good point here. The issue was that when I tried installing the project, libusb-1.0.so would not be present as a runtime dependency but the dynamic_calibration library would. Turns out there was a bug in the add_runtime_dependencies macro that would override the required_dll_files variable every time it was invoked, thereby causing that only the last added runtime dependency would be added.

I guess this macro is still needed for libraries that we link against with PRIVATE visibility.

endif()
endif()
8 changes: 8 additions & 0 deletions cmake/depthaiConfig.cmake.in
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Original file line number Diff line number Diff line change
@@ -1,5 +1,13 @@
include(CMakeFindDependencyMacro)

get_filename_component(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@ConfigVersion.cmake)

message(STATUS "Found depthai: ${CMAKE_CURRENT_LIST_DIR} (found version: ${PACKAGE_VERSION})")

# Assume we are in <install-prefix>/lib/cmake/depthai/depthaiConfig.cmake
get_filename_component(DEPTHAI_INSTALL_PREFIX "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE)

find_dependency(nlohmann_json CONFIG REQUIRED)
find_dependency(libnop CONFIG REQUIRED)
find_dependency(XLink CONFIG REQUIRED COMPONENTS XLinkPublic)
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25 changes: 25 additions & 0 deletions cmake/depthaiHelpers.cmake
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
macro(add_runtime_dependencies depending_target dependency)
if(TARGET ${dependency})
get_property(imported_configs TARGET ${dependency} PROPERTY IMPORTED_CONFIGURATIONS)
set(dlls "")
message(DEBUG "Adding runtime dependencies for ${depending_target} on ${dependency}. Imported configurations: ${imported_configs}")
foreach(cfg ${imported_configs})
message(DEBUG "Adding runtime dependencies for ${depending_target} on ${dependency} (${cfg})")
get_property(dll TARGET ${dependency} PROPERTY IMPORTED_LOCATION_${cfg})
message(DEBUG "Retrieved dll for ${cfg}: '${dll}'")
list(APPEND dlls $<$<CONFIG:${cfg}>:${dll}>)
endforeach()
message(DEBUG "Required dlls for ${depending_target} on ${dependency} are: ${dlls}")
Comment on lines +34 to +41
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Copilot AI Sep 30, 2025

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The debug messages contain inconsistent terminology - some refer to 'core' while others use the actual target name. Line 23 should use '${depending_target}' instead of hardcoded 'core' for consistency.

Copilot uses AI. Check for mistakes.
endif()
# Create a list of required dll files
set(required_dll_files ${dlls})
# Copy the required dlls
if(WIN32)
add_custom_command(TARGET ${depending_target} POST_BUILD COMMAND
"$<$<BOOL:${required_dll_files}>:${CMAKE_COMMAND};-E;copy_if_different;${required_dll_files};$<TARGET_FILE_DIR:${depending_target}>>"
COMMAND_EXPAND_LISTS
VERBATIM
)
message(DEBUG "Required dlls for core are: ${required_dll_files}")
endif()
endmacro()
4 changes: 4 additions & 0 deletions examples/cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ target_include_directories(utility PUBLIC "utility" "$<BUILD_INTERFACE:${FP16_IN
add_default_flags(utility LEAN)
target_link_libraries(utility ${OpenCV_LIBS})

# Include depthaiHelpers.cmake
include(${CMAKE_CURRENT_LIST_DIR}/../../cmake/depthaiHelpers.cmake)

set(test_env
# Misc
"UBSAN_OPTIONS=halt_on_error=1"
Expand Down Expand Up @@ -94,6 +97,7 @@ function(dai_add_example example_name example_src enable_test use_pcl)
COMMAND_EXPAND_LISTS
VERBATIM
)
add_runtime_dependencies(${example_name} usb-1.0)
endif()
endfunction()

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