add wust typr mpc and mutipule x

wust_vision-main/cuda_infer/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.10)
+cmake_policy(SET CMP0079 NEW)
+
+project(cuda_infer LANGUAGES CXX CUDA)
+
+# 设置标准
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CUDA_STANDARD 17)
+set(CMAKE_CUDA_STANDARD_REQUIRED ON)
+set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+set(CMAKE_BUILD_TYPE "Release")
+# 抑制过时 API 警告
+add_compile_options(-Wno-deprecated-declarations)
+
+# 禁用 .rsp 响应文件（避免 nvcc 报错）
+set(CMAKE_CUDA_USE_RESPONSE_FILE_FOR_OBJECTS OFF)
+set(CMAKE_CUDA_USE_RESPONSE_FILE_FOR_INCLUDES OFF)
+
+# 查找依赖
+find_package(CUDAToolkit REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# 收集源码
+file(GLOB_RECURSE CUDA_INFER_SRC 
+    ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/*.cu
+)
+
+# 添加静态库
+add_library(cuda_infer STATIC ${CUDA_INFER_SRC})
+set_target_properties(cuda_infer PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
+# 设置包含路径
+target_include_directories(cuda_infer PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CUDAToolkit_INCLUDE_DIRS}
+    ${TensorRT_INCLUDE_DIR}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+# 设置 CUDA 编译选项
+target_compile_options(cuda_infer PRIVATE
+    $<$<COMPILE_LANGUAGE:CUDA>:
+        --generate-code=arch=compute_86,code=sm_86
+        -Xcompiler=-fPIC
+        -O3
+        -w
+        -Wno-deprecated-gpu-targets
+        -Wno-error=deprecated-declarations
+    >
+)
+
+# 链接库
+target_link_libraries(cuda_infer PRIVATE
+    ${OpenCV_LIBS}
+    CUDA::cudart
+    TensorRT::TensorRT
+)