A. ubuntu12.04怎麼安裝pcl
一，下載PCL
$ git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk
$ ln -s pcl-trunk pcl
二，安裝庫
$ sudo apt-get install cmake
$ sudo apt-get install g++
$ sudo apt-get install libboost1.55-all-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libflann-dev
$ sudo apt-get install python
$ sudo apt-get install libusb-1.0-0-dev
$ sudo apt-get install libudev-dev
$ sudo apt-get install openjdk-6-jdk
$ sudo apt-get install freeglut3-dev
$ sudo apt-get install doxygen
$ sudo apt-get install graphviz
$ sudo apt-get install libpng12-dev
$ sudo apt-get install libgtest-dev
$ sudo apt-get install libxmu-dev
$ sudo apt-get install libxi-dev
$ sudo apt-get install libpcap-dev
$ sudo apt-get install libqhull-dev
$ sudo apt-get install libvtk5-qt4-dev
$ sudo apt-get install python-vtk
$ sudo apt-get install libvtk-java
三，編譯庫
$ cd pcl-trunk
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
$ make
$ sudo make install
四，測試PCL
1、HOME目錄下 pcl-trunk->doc->tutorials->content->sources下有PCL常式：這里我選擇的是cloud_viewer文件夾下的cloud_viewer.cpp
2、創建demo包
$ cd catkin_ws/src/
$ catkin_create_pkg demo std_msgs rospy roscpp
3、將cloud_viewer.cpp文件拷貝到demo文件下，同時用cloud_viewer文件夾下的CmakeList.txt代替demo文件夾下的CmakeList.txt文件
4、編譯運行cloud_view.cpp源文件
$ cd demo
$ sudo cmake .
$ sudo make
$ ./cloud_viewer
五，運行結果
至此，PCL點雲庫安裝與測試完畢！
B. freerdp打deb包出錯dh_install:libfreerdp-plugins-standard missing files(usr/lib/*/freerdp/*.so)
原流程：
1. 安裝Ubuntu12.04.1桌面版；
2. sudo apt-get install git
3. git clone git://github.com/FreeRDP/FreeRDP.git
4. cd FreeRDP （可以先備份）
5. sudo apt-get install build-essential git-core cmake libssl-dev libx11-dev libxext-dev libxinerama-dev
6. sudo apt-get install libxcursor-dev libxdamage-dev libxv-dev libxkbfile-dev libasound2-dev libcups2-dev libxml2 libxml2-dev
7. sudo apt-get install libxrandr-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
8. sudo apt-get install libavutil-dev libavcodec-dev
9. sudo apt-get install libcunit1-dev libdirectfb-dev xmlto doxygen libxtst-dev
10. cmake .
11. make
12. sudo make install
13. vi ./channels/urbdrc/ChannelOptions.cmake
set(OPTION_CLIENT_DEFAULT OFF)改為set(OPTION_CLIENT_DEFAULT ON)
14. rm CMakeCache.txt
15. cmake .
16. make
17. 提示找不到uuid.h
18. sudo apt-get install uuid-dev
19. 提示找不到libudev.h
20. sudo apt-get install libudev-dev
21. 提示找不到libusb-1.0/libusb.h
22. sudo apt-get install libusb-1.0
23. 提示連接錯誤找不到-ldbus-glib-1
24. sudo apt-get install libdbus-glib-1-dev
25. xfreerdp /u:administrator /sec:rdp /usb:id,dev:XXXX:XXXX /v:192.168.5.84
簡化流程：
1. 安裝Ubuntu12.04.1桌面版；
2. sudo apt-get install git
3. git clone git://github.com/FreeRDP/FreeRDP.git
4. tar cvfz ./FreeRDP.tar.gz ./FreeRDP/
5. cd FreeRDP
6. sudo apt-get install build-essential git-core cmake libssl-dev libx11-dev libxext-dev libxinerama-dev libxcursor-dev libxdamage-dev libxv-dev libxkbfile-dev libasound2-dev libcups2-dev libxml2 libxml2-dev libxrandr-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libavutil-dev libavcodec-dev libcunit1-dev libdirectfb-dev xmlto doxygen libxtst-dev uuid-dev libudev-dev libusb-1.0 libdbus-glib-1-dev
7. vi ./channels/urbdrc/ChannelOptions.cmake
set(OPTION_CLIENT_DEFAULT OFF)改為set(OPTION_CLIENT_DEFAULT ON)
8. cmake .
9. make
10. sudo make install
11. 測試
cd /usr/local/bin
./xfreerdp /u:administrator /sec:rdp /usb:id,dev:XXXX:XXXX /v:192.168.5.84