1. OpenCV安装
1）在终端安装依赖项
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev
2）从官网下载OpenCV2.4.9，解压缩，用cmake编译安装
mkdir build
cd build
cmake ..
make
sudo make install
2. PCL安装
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
3. ROS安装
参考官网的安装教程
http://wiki.ros.org/cn/hydro/Installation/Ubuntu
4. kinect V1 + ubuntu
ROS链接openni库获取kinect数据（PC端）
http://blog.csdn.net/hcx25909/article/details/8619126
安装openni等
1）依赖库
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
sudo apt-get install doxygen graphviz mono-complete
2）OpenNI 1.5.4
git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx] ([xxx] is your architecture and this particular OpenNI release，根据实际情况修改)
sudo ./install.sh
3）Kinect Sensor Module（与openni安装类似）
git clone https://github.com/avin2/SensorKinect
cd SensorKinect
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
chmod +x install.sh
sudo ./install.sh
4）测试Openni
cd OpenNI/Platform/Linux-x86/Bin/Release
./Sample-NiSimpleViewer
5）NITE选择性安装
获取软件包，解压缩，执行sudo ./install.sh