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finally get it fixed, by reinstalling openni driver, following the first step of the source based installation of openni driver
hg clone https://kforge.ros.org/openni/drivers
cd drivers
make
make install
I guess it is because when I manually removed the PrimeSensor Module, I deleted "libXnDeviceSensorV2.so" "libXnDeviceFile.so", and according to /etc/primesense/modules.xml, these two libraries are needed by openni
thanks dornhege