[Kilted] Namespace installed headers and runtime libs

[bjsowa]

Purpose

This is a port of #1946 to ros-devel branch (Kilted, Lyrical)

Specification

• CMAKE_INSTALL_INCLUDEDIR is now set once, globally, to include/${PROJECT_NAME} near the top of CMakeLists.txt, before dependencies are processed. This namespaces both depthai's own installed headers and the vendored FetchContent dependencies (xtensor, xtl, libnop, XLink), which all install headers via the plain CMAKE_INSTALL_INCLUDEDIR variable.
• The vendored dependencies additionally hardcode the literal include path inside the $<INSTALL_INTERFACE:...> generator expression of their own INTERFACE_INCLUDE_DIRECTORIES target property (instead of referencing ${CMAKE_INSTALL_INCLUDEDIR}), so their exported CMake targets would otherwise still advertise the old, unnamespaced path to consumers. A new _depthai_namespace_install_interface_includedir() macro in cmake/depthaiDependencies.cmake patches this property in-place for xtl, xtensor, libnop, and XLinkPublic right after they're made available via FetchContent.
• target_include_directories(${TARGET_CORE_NAME} ...) now references ${CMAKE_INSTALL_INCLUDEDIR} directly instead of a hardcoded include path, staying in sync automatically.
• The runtime-downloaded libdynamic_calibration.so (used when DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT is enabled) is now installed to lib/${PROJECT_NAME}/ instead of directly under lib/. INSTALL_RPATH for the core target is extended with $ORIGIN/${PROJECT_NAME} (and @loader_path/${PROJECT_NAME} on macOS) so it's still found at runtime. Windows DLL install location is left unchanged (must stay next to the loading binary).
• Namespacing libdynamic_calibration.so under lib/${PROJECT_NAME}/ reintroduces a name collision it was meant to avoid, but at a different resolution layer (ld/ld.so search order) instead of the filesystem: on Linux, some distros (e.g. a ros-*-depthai system package) may already ship an unrelated, incompatible libdynamic_calibration.so on LD_LIBRARY_PATH. Two additional fixes close this gap:
  • ${TARGET_CORE_NAME} is now linked with -Wl,--disable-new-dtags, forcing the classic DT_RPATH tag (searched before LD_LIBRARY_PATH at runtime) instead of the default DT_RUNPATH (searched after it), so the correct, namespaced copy is always preferred at runtime regardless of environment.
  • ${TARGET_CORE_NAME} also gets an INTERFACE -Wl,-rpath-link,<dir> link option (pointing at the FetchContent source dir at build time, and at lib/${PROJECT_NAME} at install time via $<BUILD_INTERFACE:>/$<INSTALL_INTERFACE:>). Since dynamic_calibration_imported is a PRIVATE dependency, downstream consumers (e.g. depthai_bridge) otherwise have no path hint for it, and ld's link-time search order for transitive NEEDED symbols checks LD_LIBRARY_PATH before the dependency's own RPATH/RUNPATH (the reverse of the runtime order) - without this, consumers could fail to link with "undefined reference" errors against a wrong/older libdynamic_calibration.so found via LD_LIBRARY_PATH.
• Out of scope for this PR: the vendored dependencies' own installed CMake package config files - lib/cmake/libnop, lib/cmake/XLink, share/cmake/xtensor, share/cmake/xtl, and share/pkgconfig/{xtensor,xtl}.pc - are still installed unnamespaced by their own install(EXPORT)/install(FILES) rules. Only their header install locations and exported INTERFACE_INCLUDE_DIRECTORIES are namespaced here (see Dependencies & Potential Impact below).

Old install layout:

|-- include
|   |-- XLink
|   |-- depthai
|   |-- depthai-bootloader-shared
|   |-- nop
|   |-- xtensor
|   |-- xtensor.hpp
|   `-- xtl
|-- lib
|   |-- cmake
|   |   |-- XLink
|   |   |-- depthai
|   |   `-- libnop
|   |-- libdepthai-core.so
|   `-- libdynamic_calibration.so
`-- share
    |-- ament_index
    |   `-- resource_index
    |-- cmake
    |   |-- xtensor
    |   `-- xtl
    |-- colcon-core
    |   `-- packages
    |-- depthai
    |   |-- cmake
    |   |-- environment
    |   |-- hook
    |   |-- local_setup.bash
    |   |-- local_setup.sh
    |   |-- local_setup.zsh
    |   |-- package.bash
    |   |-- package.dsv
    |   |-- package.ps1
    |   |-- package.sh
    |   |-- package.xml
    |   `-- package.zsh
    `-- pkgconfig
        |-- xtensor.pc
        `-- xtl.pc

New install layout:

|-- include
|   `-- depthai
|       |-- XLink
|       |-- depthai
|       |-- depthai-bootloader-shared
|       |-- nop
|       |-- xtensor
|       |-- xtensor.hpp
|       `-- xtl
|-- lib
|   |-- cmake
|   |   |-- XLink
|   |   |-- depthai
|   |   `-- libnop
|   |-- depthai
|   |   `-- libdynamic_calibration.so
|   `-- libdepthai-core.so
`-- share
    |-- ament_index
    |   `-- resource_index
    |-- cmake
    |   |-- xtensor
    |   `-- xtl
    |-- colcon-core
    |   `-- packages
    |-- depthai
    |   |-- cmake
    |   |-- environment
    |   |-- hook
    |   |-- local_setup.bash
    |   |-- local_setup.dsv
    |   |-- local_setup.sh
    |   |-- local_setup.zsh
    |   |-- package.bash
    |   |-- package.dsv
    |   |-- package.ps1
    |   |-- package.sh
    |   |-- package.xml
    |   `-- package.zsh
    `-- pkgconfig
        |-- xtensor.pc
        `-- xtl.pc

Dependencies & Potential Impact

• No public API or #include statement changes for consumers - #include <depthai/...> keeps working unchanged,
• lib/cmake/libnop, lib/cmake/XLink, share/cmake/xtensor, share/cmake/xtl, and share/pkgconfig/{xtensor,xtl}.pc remain unnamespaced (see Specification) since we can't change vendored third-party install rules without patching sources fetched fresh each configure.
• Only affects Linux/macOS dynamic_calibration.so runtime location; Windows DLL handling is unchanged.
• The --disable-new-dtags/-rpath-link fixes only apply on UNIX (Linux and macOS); Windows resolves DLLs differently (via PATH and the runtime-dependency-copying macro already in place) and is unaffected.
• Downstream consumers that build against the installed depthai package (e.g. depthai_bridge) automatically pick up the -rpath-link fix through depthai::core's INTERFACE_LINK_OPTIONS - no changes needed on their end.

Deployment Plan

None / not applicable - this is a build/install-layout change only, no runtime service impact. A clean rebuild of depthai (and any package consuming it, e.g. depthai_bridge, depthai_ros_driver) is recommended after pulling this change to avoid stale install artifacts from the previous unnamespaced layout.

Testing & Validation

• Clean-rebuilt depthai and confirmed install/depthai/include/ only contains the namespaced depthai/ subfolder (previously also had unnamespaced nop/, XLink/, xtensor/, xtensor.hpp, xtl/).
• Verified the exported depthaiTargets.cmake (and libnop's/XLink's own independently-exported configs) correctly reference include/depthai in INTERFACE_INCLUDE_DIRECTORIES.
• Rebuilt depthai_bridge and depthai_ros_driver (downstream consumers via find_package(depthai CONFIG)) from scratch against the new layout - build and link successfully with no changes needed on the consumer side.
• Confirmed libdynamic_calibration.so installs to lib/depthai/ and ldd resolves it correctly via the extended RPATH (no "not found" entries).

AI Usage

Assisted-by: Claude Sonnet 5.0

Submitted code was reviewed by a human: YES

The author is taking the responsibility for the contribution: YES

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