enable build in vscode, custom toolchain+include (#258)

* enable build in vscode, custom toolchain+include
- fixes #246

* self doc dependency options with set(cache)

CMakeLists.txt

@@ -8,7 +8,9 @@ endif()
 
 # Read the BUILD_SHARED_LIBS option and select PIC toolchain
 if(BUILD_SHARED_LIBS)
-    set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_LIST_DIR}/cmake/toolchain/pic.cmake" CACHE STRING "")
+    if(NOT DEFINED CMAKE_TOOLCHAIN_FILE)
+        set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_LIST_DIR}/cmake/toolchain/pic.cmake" CACHE STRING "")
+    endif()
     # Specify exporting all symbols on Windows
     set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON CACHE BOOL "")
 endif()
@@ -115,6 +117,7 @@ endif()
 ### Get and find dependencies
 
 # Include project dependencies
+set(DEPTHAI_DEPENDENCY_INCLUDE "" CACHE FILEPATH "Optional cmake file to append to dependency processing, e.g. additional find_package()")
 include(depthaiDependencies)
 
 # Add threads preference
@@ -402,6 +405,7 @@ endif()
 ########################
 # OpenCV Support
 ########################
+set(THIRDPARTY_OPENCV_LIBRARIES "" CACHE STRING "Optional libraries to link OpenCV support, e.g. TBB::tbb")
 set(TARGET_OPENCV_NAME ${PROJECT_NAME}-opencv)
 set(TARGET_OPENCV_ALIAS opencv)
 if(DEPTHAI_OPENCV_SUPPORT)
@@ -427,7 +431,7 @@ if(DEPTHAI_OPENCV_SUPPORT)
         add_flag(${TARGET_OPENCV_NAME} -Wno-switch-enum)
 
         # Link to OpenCV (publically)
-        target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${REQUIRED_OPENCV_LIBRARIES})
+        target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${REQUIRED_OPENCV_LIBRARIES} ${THIRDPARTY_OPENCV_LIBRARIES})
 
         # Add public compile definition indicating that OpenCV support is available
         set(DEPTHAI_HAVE_OPENCV_SUPPORT ON)
@@ -439,7 +443,9 @@ if(DEPTHAI_OPENCV_SUPPORT)
         target_link_libraries(${TARGET_OPENCV_NAME} PUBLIC ${TARGET_CORE_NAME})
 
         # Add to clangformat target
-        target_clangformat_setup(${TARGET_OPENCV_NAME} "")
+        if(COMMAND target_clangformat_setup)
+            target_clangformat_setup(${TARGET_OPENCV_NAME} "")
+        endif()
 
         # Add to list of targets to export and install
         list(APPEND targets_to_export ${TARGET_OPENCV_NAME})
@@ -457,9 +463,9 @@ endif()
 if(DEPTHAI_SANITIZE)
     set(SANITIZE_ADDRESS ON CACHE BOOL "Enable AddressSanitizer for sanitized targets." FORCE)
     set(SANITIZE_UNDEFINED ON CACHE BOOL "Enable UndefinedBehaviorSanitizer for sanitized targets." FORCE)
+    find_package(Sanitizers)
+    add_sanitizers(${TARGET_CORE_NAME} ${TARGET_OPENCV_NAME})
 endif()
-find_package(Sanitizers)
-add_sanitizers(${TARGET_CORE_NAME} ${TARGET_OPENCV_NAME})
 
 ########################
 # Testing infrastructure

cmake/depthaiDependencies.cmake

@@ -63,6 +63,11 @@ endif()
 # OpenCV 4 - (optional, quiet always)
 find_package(OpenCV 4 QUIET CONFIG)
 
+# include optional dependency cmake
+if(DEPTHAI_DEPENDENCY_INCLUDE)
+    include(${DEPTHAI_DEPENDENCY_INCLUDE} OPTIONAL)
+endif()
+
 # Cleanup
 if(CONFIG_MODE)
     set(CMAKE_PREFIX_PATH ${_CMAKE_PREFIX_PATH_ORIGINAL})

examples/CMakeLists.txt

@@ -19,9 +19,13 @@ function(dai_add_example example_name example_src enable_test)
     target_link_libraries(${example_name} PRIVATE utility depthai::opencv ${OpenCV_LIBS})
 
     # Add sanitizers for example
-    add_sanitizers(${example_name})
+    if(COMMAND add_sanitizers)
+        add_sanitizers(${example_name})
+    endif()
     # Add to clangformat target
-    target_clangformat_setup(${example_name} "")
+    if(COMMAND target_clangformat_setup)
+        target_clangformat_setup(${example_name} "")
+    endif()
 
     # parse the rest of the arguments
     set(arguments ${ARGV})

tests/CMakeLists.txt

@@ -13,7 +13,9 @@ function(dai_add_test test_name test_src)
     add_executable(${test_name} ${test_src})
 
     # Add to clangformat target
-    target_clangformat_setup(${test_name} "")
+    if(COMMAND target_clangformat_setup)
+        target_clangformat_setup(${test_name} "")
+    endif()
 
     # Link to core and Catch2 testing framework
     target_link_libraries(${test_name} PRIVATE depthai-core Catch2::Catch2)
@@ -22,7 +24,9 @@ function(dai_add_test test_name test_src)
     add_test(${test_name} ${test_name})
 
     # Add sanitizers for tests as well
-    add_sanitizers(${test_name})
+    if(COMMAND add_sanitizers)
+        add_sanitizers(${test_name})
+    endif()
 
     # Add ubsan halt on error
     set_tests_properties(${test_name} PROPERTIES ENVIRONMENT "UBSAN_OPTIONS=halt_on_error=1")