1. opencv
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
mkdir build
cd build
cmake ..
make
sudo make install
卸载自己安装的库，还是在该文件夹下
sudo make uninstall
2. pcl
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all
在此针对Ubuntu12.04上的一些安装做一下总结，备用
//××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××//
//××××××××××××××××××××××××1.OpenCV××××××××××××××××××××××××××××//
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系列，解压缩，用cmake编译安装
mkdir build
cd build
cmake ..
make
sudo make install
//***********************************************************//
//*************************2.PCL*****************************//
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
//***********************************************************//
//*************************3.ROS*****************************//
参考官网的安装教程
http://wiki.ros.org/cn/hydro/Installation/Ubuntu
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//×××××××××××××××××××××××××4.OpenNI**************************//
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
/×We need to install a bunch of packages for all this to work. Thankfully, the readme file included with OpenNI lists all these. However, to make life easier, this is (as of writing) what you need to install, in addition to all the development packages you (hopefully) already have.×/
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
/×There are also some optional packages that you can install, depending on whether you want documentation, Mono bindings, etc. Note that on earlier versions the install failed if you didn’t have doxygen installed, even though it is listed as optional.×/
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