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You need to install OpenNI and PrimeSense sensor module from source. That's what I did.

Get the source codes

$ git clone https://github.com/OpenNI/OpenNI.git

$ git clone https://github.com/PrimeSense/Sensor.git
Compile them in order (follow their README instructions of each package to satisfy requirements/dependencies)
Re-build (Cmake) your openCV.

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