Follow the instructions on the rgbdslam v2 github page (for ROS indigo + ubuntu 14.04)

To install ROS indigo

To install OpenCV 2.4.12. (Note: ROS indigo uses OpenCV2 by default)

• Installation instruction
• Download link for OpenCV 2.4.12

To install Openni to launch rgbdslam with UI:

• Installation from commandline: $ sudo apt-get install ros-indigo-openni-launch
• Package summary link:

To run rgbdslam with bagfiles/Kinect