glOrtho Error : You will need to change "Makefile" of NiSimple* inside "Samples/NiSimple*".
Change to USED_LIBS += glut GL
Or just use my fork version of OpenNI https://github.com/moeseth/OpenNI
[XnFormats] Error 2 : It can be solved by changing "LIB_USED +=" to "USED_LIBS +=" inside XnFormats Makefile or you can just use my fork with fix. https://github.com/moeseth/Sensor
CommonMakefile not found error while making Sensor : you need CommonCppMakefile and symlink CommonMakefile inside /usr/include/ni