there is not anything like "-I/usr/local/include -lraspicam -lmmal -lmmal_core -lmmal_util"

As KennetRunner points out this is because those libraries aren't in the linker's default path. If you don't want to keep using -L/opt/vc/lib, you can also:

sudo touch /etc/ld.so.conf.d/opt-vc.conf

Then edit that file (via sudo whatever, or sudoedit, or just su to do the whole thing) to include the line:

/opt/vc/lib

Then run sudo ldconfig to update the linker cache, and to verify,

sudo ldconfig -p | grep mmal 

(see man ldconfig about -p). You should see a few lines about those libraries.

If the base C includes are useful too (in addition to those of the C++ wrapper library in /usr/local/include), those won't be in the compiler's default path, so you could use -I /opt/vc/include or else add to your environment:

CPLUS_INCLUDE_PATH=/opt/vc/include

If you already have such a path set you can expand it the way you would expand the ordinary path variable (e.g. CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:/opt/vc/include).

there is not anything like "-I/usr/local/include -lraspicam -lmmal -lmmal_core -lmmal_util"

As KennetRunner points out this is because those libraries aren't in the linker's default path. It is worth mentioning that there are two of these to consider, the linker used at compile time and the shared object linker used at runtime if there are shared libraries linked (which there usually are).

The paths searched by the compile time linker are essentially hardcoded into it, so you need to explicitly use -L/opt/vc/lib.

You then need to make sure the runtime linker can find the relevant libraries. To add a path for that:

sudo bash echo /opt/vc/lib/ > /etc/ld.so.conf.d/opt-vc.conf

Then run sudo ldconfig to update the linker cache, and to verify,

sudo ldconfig -p | grep mmal 

(see man ldconfig about -p). You should see a few lines about those libraries.

If the base C includes are useful too (in addition to those of the C++ wrapper library in /usr/local/include), those won't be in the compiler's default path, so you could use -I /opt/vc/include or else add to your environment:

CPLUS_INCLUDE_PATH=/opt/vc/include

If you already have such a path set you can expand it the way you would expand the ordinary path variable (e.g. CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:/opt/vc/include).