I am mostly putting this here because I usually run Linux from a live source and have a specific task. The dependencies are not ever available and it takes me a while to sort through them so here goes:
Read up on it here: https://github.com/Benjamin-Dobell/Heimdall
sudo apt-get update
sudo apt-get install libusb-1.0 build-essential pkg-config zlib1g-dev libusb-dev libqt4-dev qt4-qmake autoconf libtool
wget https://nodeload.github.com/Benjamin-Dobell/Heimdall/zip/master
cd libpit
./configure
make
cd ..
cd libusb-1.0
./configure
make
cd ..
cd heimdall
./configure
make
sudo make install
cd ..