STEPS FOR OPENCV+ROS on LUBUNTU 13.

04:
install lubuntu 13.04 on a 16 GB uSD card.
copy hard kernel folder to /usr/local/lib and odroid-config.sh in /usr/local/sbin folder
change ownership of hard kernel folder and odroid-config using chown
chown -R root /usr/local/lib/hardkernel
cd /usr/local/sbin
chmod 777 odroid-config
go to the folder sbin run
sudo odroid-config
now expand the filesystem, enable SSH, change screen resolution if required and reboot
now update your kernel from this link using the following commands. This is necessary for
changing the default external video devices channel nos to 0-9, i.e for example your webcam will
now take device 0 or 1 instead of 13 or 14. device nos 13/14 will not work in opencv
wget http://builder.mdrjr.net/tools/kernel-update.sh
chmod +x kernel-update.sh
sudo ./kernel-update.sh
change sources file to install updates. without this, you will not be able to install ROS.
go to /etc/apt/sources.list and replace all archives to old-releases and all ubuntu-ports to
ubuntu.
ex.: http://old-releases.ubuntu.com/ubuntu/
you will need superuser rights to make changes to this file, so open the file like this : sudo edit
sources.list
now run sudo apt-get update
instructions as mentioned on ROS website

OPENCV:
sudo apt-get -qq remove ffmpeg x264 libx264-dev
Install dependencies
sudo apt-get install libopencv-dev build-essential checkinstall cmake pkg-config yasm libjasper-dev
libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev
libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libtbb-dev libqt4-dev
libgtk2.0-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev
libtheora-dev libvorbis-dev libxvidcore-dev x264 libxvid-dev v4l-utils

Install jpeg turbo:

download latest jpeg turbo tar ball and unzip
cd libjpeg-turbo-1.3.0
mkdir build
cd build
../configure --enable-static
Open the Makefile (in the build directory) to add the compiler flags.
gedit Makefile

Find "CFLAGS" in the Makefile to add the C compiler flags. (Ctrl+F).

Replace that line with:
CFLAGS =-O3 -mfpu=neon -mcpu=cortex-a9 -mfloat-abi=hard -ftree-vectorize -ftree-vectorizerverbose=9 -fPIC
Similarly Find the "CXXFLAGS" and replace it to :
CXXFLAGS = -g -O2 -mcpu=cortex-a9 -mfloat-abi=hard -ftree-vectorize -ftree-vectorizerverbose=9 -fPIC
sudo make
sudo make install

libjpeg-turbo is now installed at /opt/libjpeg-turbo

Install ffmpeg:
download latest ffmpeg tar ball and unzip
cd ffmpeg
./configure --enable-gpl --enable-libfaac --enable-libmp3lame --enable-libopencore-amrnb --enablelibopencore-amrwb --enable-libtheora --enable-libvorbis --enable-libx264 --enable-libxvid --enablenonfree --enable-postproc --enable-version3 --enable-x11grab enable-shared
sudo make
sudo make install
Put in all cmake flags
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local DENABLE_NEON=ON -DWITH_TBB=ON -DBUILD_TBB=ON -DBUILD_EXAMPLES=ON DWITH_JPEG=ON -DBUILD_JPEG=OFF -DJPEG_INCLUDE_DIR=/opt/libjpeg-turbo/include/ DJPEG_LIBRARY=/opt/libjpeg-turbo/lib32/libjpeg.a -D BUILD_NEW_PYTHON_SUPPORT=ON -D
WITH_V4L=ON -D WITH_OPENCL=ON -D WITH_OPENGL=ON -DENABLE_VFPV3=ON .. |& tee
CMAKE_OUTPUT.txt

make -j4
sudo checkinstall
sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig