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