i think you need install glu dev files.
You can add new libs in the makefile of any particular sample. Do you have mesa installed on your system?
Scharupa, your solution did work to get past the GL error, but there is another error:
g++ -Wpointer-arith -Wfloat-equal -g3 -ffor-scope -I ../../../../../samples/opencl/SDKUtil/include -I "/include" -I ../../../../../include -o build/debug/x86_64//BoxFilterGLSAT.o -c BoxFilterGLSAT.cpp
make: *** No rule to make target `../../../../../samples/opencl/SDKUtil/build/debug/x86_64//libSDKUtil.a', needed by `build/debug/x86_64/BoxFilterGL'. Stop.
I'm trying to target an AMD CPU, so I did realize that the GL samples probably won't work, especially because I'm not currently running an AMD GPU. I'm still very new to OpenCL, so I'm not sure if the GL samples would work on a non-AMD GPU. Since I have access to the precompiled samples in the bin folder that normally would have been missed after the make exit, I can at least make use of the samples that don't require GL, which seem to be working.
Can you change the make file and try again.
LLIBS += glut GLEW
LLIBS += glut GLEW GL GLU