Installing PCL on Ubuntu 11.04

Add the PCL to the repository

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl

Update repository
sudo apt-get update

Install repository
sudo apt-get install libpcl-all

It would be better you add ROS to your repository before installing PCL. This add some of the optional dependencies of PCL which are there in ROS. Moreover OpenNI is also installed automatically from ROS repo which relieves you from the burden ofconnecting kinect by installing all the dependencies on by one.

ROS Diamondback repository - 

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list' 

$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

$ sudo apt-get update