// Astra SDK and OpenNI2 Core Framework for Ubuntu 18.04
// Used to run Orbec Astra Mini

//---------------------------------------------------------------------
// 			Ensure dependent libraries installed:
//---------------------------------------------------------------------

sudo apt-get install build-essential freeglut3 freeglut3-dev
sudo apt-get install libsfml-dev
sudo apt-get install libpthread-stubs0-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libx11-dev
sudo apt-get install libxrandr-dev
sudo apt-get install libfreetype6-dev
sudo apt-get install libglew1.5-dev
sudo apt-get install libjpeg8-dev
sudo apt-get install libsndfile1-dev
sudo apt-get install libopenal-dev
sudo apt-get install cmake
sudo apt-get install g++

// Check the Orbec driver manually or using
ldconfig -p | grep libudev.so.1
// Manually
/lib/x86_64-linux-gnu

// libudev.so.1 does not exist, make symbolic link
sudo ln -s libudev.so.x.x.x libudev.so.1

// x.x.x is the version of libudev.so on the system.
// I also did sudo ln -s libudev.so.x.x.x libudev.so.0

//---------------------------------------------------------------------
// 		Download Astra SDK for ubuntu 16.04 and openNI at:
//---------------------------------------------------------------------
https://orbbec3d.com/develop/#linux

//---------------------------------------------------------------------
//				Run Install scripts for each package
//---------------------------------------------------------------------

// Install Script for astra:
cd ~/<location of astra package>/install
chmod a+x install.sh
sudo ./install.sh

// Add to .bashrc file
// After runnin ./install.sh, it tells you to add <...>/install/include and <...>/install/lib
// there is nothing in the directory that I could see, so I did:
export ASTRA_SDK_INCLUDE=~/<astra repo location>/include
export ASTRA_SDK_LIB=~/<astra repo location>/lib

// cmake astra sdk samples
cd ~/<location of package>/samples
mkdir build
cd build
sudo cmake ./..
sudo make
cd bin

// Run any application as sudo

//---------------------------------------------------------------------
//			Running OpenNI2 Sample
//---------------------------------------------------------------------

// Install Script for openNI:
cd ~/<location of openNI package>/
chmod a+x install.sh
sudo ./install.sh
// Should be able to just add the below to .bashrc file, but
// had success when add to idividual make files of samples in my case
// I did both of the above
export OPENNI2_INCLUDE=~/<openNI repo location>/Include
export OPENNI2_REDIST=~/<openNI repo location>/Redist

// In ~/<location of openNI2 package>/samples/SimpleViewer/main.cpp
// add the following at line 51 after "if (rc == openni::STATUS_OK){"
sudo gedit main.cpp

const openni::SensorInfo* sinfo = device.getSensorInfo(openni::SENSOR_DEPTH);
const openni::Array< openni::VideoMode>& modesDepth = sinfo->getSupportedVideoModes();
rc = depth.setVideoMode(modesDepth[4]);

// This fixes the resolution mismatch between color and depth

// Run the sample application
cd ~/<location of package>/samples/SimpleViewer
sudo make
cd Bin/x64-Release
sudo ./SimpleViewer

// It is also possible that the camera only works over USB 2.0. Try to use
// a USB 2.0 port on computer since USB 3.0 may not work.
// Can check if camera is seen in usb devices with 'lsusb'. Did not have a name in my list.