cmake_minimum_required(VERSION 2.8.3) project(plan_env) add_compile_definitions(USE_MID360_CLOUD) set(CMAKE_BUILD_TYPE "Release") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(OpenCV REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs visualization_msgs cv_bridge message_filters ) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES plan_env CATKIN_DEPENDS roscpp std_msgs DEPENDS OpenCV # DEPENDS system_lib ) include_directories( SYSTEM include ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) add_library( plan_env src/grid_map.cpp src/raycast.cpp src/obj_predictor.cpp ) target_link_libraries( plan_env ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ) add_executable(obj_generator src/obj_generator.cpp ) target_link_libraries(obj_generator ${catkin_LIBRARIES} )如何修改正确将宏定义USE_MID360_CLOUD添加到项目中所有目标

你当前的 CMakeLists.txt 中使用了 `add_compile_definitions(USE_MID360_CLOUD)`，这个命令在 CMake 3.12 及以上版本中是有效的，它会将宏定义添加到所有目标中。 但如果你使用的是更早版本的 CMake（比如你设置的 `cmake_minimum_required(VERSION 2.8.3)`），这个命令可能不被支持。为了确保兼容性和正确地将宏定义添加到所有目标中，可以考虑以下几种方式： --- ### ✅ 推荐修改方式（兼容旧版本） 将 `add_compile_definitions(USE_MID360_CLOUD)` 替换为： ```cmake add_definitions(-DUSE_MID360_CLOUD) ``` 这是旧版本 CMake 中推荐的方式，用于添加全局宏定义，适用于所有后续定义的目标。 --- ### 完整修改后的 CMakeLists.txt 片段如下： ```cmake cmake_minimum_required(VERSION 2.8.3) project(plan_env) add_definitions(-DUSE_MID360_CLOUD) # ✅ 替换为 add_definitions set(CMAKE_BUILD_TYPE "Release") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(OpenCV REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs visualization_msgs cv_bridge message_filters ) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES plan_env CATKIN_DEPENDS roscpp std_msgs DEPENDS OpenCV # DEPENDS system_lib ) include_directories( SYSTEM include ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) add_library( plan_env src/grid_map.cpp src/raycast.cpp src/obj_predictor.cpp ) target_link_libraries( plan_env ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ) add_executable(obj_generator src/obj_generator.cpp ) target_link_libraries(obj_generator ${catkin_LIBRARIES} ) ``` --- ### ✅ 总结 - 如果你使用的是 CMake < 3.12，请使用 `add_definitions(-DXXX)`。 - 如果你使用的是 CMake ≥ 3.12，可以使用 `add_compile_definitions(XXX)`，它更简洁、现代。 - 确保你的 CMake 版本与语法兼容。 ---