2 different ways...
1st way: when no access to odin (or just plain sick of it) go to the market and get DarkyROM2 Tool
then I make a folder called zimage and then a subfolder with the kernel version
-extract the zimage from the .tar and place it in the "version folder"
-then flash/install file from SDCARD
-install as you would a rom through odin (using pda)
-put the phone in download mode by pressing (volume- & home & power), then volume+ to confirm
-doesn't wipe or no need to..
once you install the kernel, to get root...
-download the superuser attachment
-place superuser zip on your sd card
-power off phone
-then press and hold (volume+ & home & power)...keep holding until clockwork recovery pops up (takes 2 or 3 cycles)
-then flash su zip from sd
-also flash liblights from recovery for bln
-to remove yellow triangle
-after you odin in a "jame bond" kernel (you will now have root)
-reboot, then back to download mode and install the stock kernel with odin.
-then reflash the "jame bond" kernel with DarkyROM2 Tool
-search galaxy jig on ebay (buy..wait for ups)
-then once you "run the jig" the triangle will be gone
-flash all future kernels using the Darky app and it won't show again
*note latest su and liblights are under downloads in first post