$ sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
$ sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
$ sudo update-grub && sudo reboot
$ sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$ sudo apt-get install libglfw3-dev (16)
$ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev (18)
$ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules && udevadm trigger
$ ./scripts/patch-realsense-ubuntu-lts.sh
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt-get update
$ sudo apt-get install gcc-5 g++-5
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5
$ sudo update-alternatives --set gcc "/usr/bin/gcc-5"
$ cd librealsense
$ mkdir build && cd build
$ cmake ../ -DBUILD_EXAMPLES=true
$ sudo make uninstall && make clean && make && sudo make install
