sudo sh -c 'printf "# Kinect v1\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02b0\", 
     MODE=\"0666\"\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02ad\", 
     MODE=\"0666\"\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02ae\", 
     MODE=\"0666\"\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02c2\", MODE=\"0666\"\n\n# Kine
     v2\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02c4\", MODE=\"0666\"\nSUBSYSTEM==\"usb\",
     ATTR{idVendor}==\"045e\", ATTR{idProduct}==\"02d8\", MODE=\"0666\"\nSUBSYSTEM==\"usb\", ATTR{idVendor}==\"045e\
     ATTR{idProduct}==\"02d9\", MODE=\"0666\"\n" > /etc/udev/rules.d/55-kinect.rules'
sudo udevadm control --reload-rules && sudo udevadm trigger
# if Kinect is already plugged into the computer, unplug and replug

• See list of commands inside flatpak: flatpak run --command=ls org.arsandboxg.ARSandbox /app/bin. Will return:

AlignPoints           EyeCalibrator       MeasurePoints             RunVRCompositor.sh  TransformCalculator
AlignTrackingMarkers  FindHMD             OculusCalibrator          SampleTrackerField  VRCompositingServer
CalibrateCameras      KinectServer        OnHMD                     SARndbox            VRDeviceDaemon
CalibrateProjector    KinectUtil          PrintInputDeviceDataFile  SARndboxClient      VruiSoundConfig
CalibrateTouchscreen  KinectViewer        RawKinectViewer           ScreenCalibrator    VruiSoundConfigTest
DeviceTest            MeasureEnvironment  RoomSetup                 TrackingTest        XBackground

• Run Calibrate Projector utility: flatpak run --command=CalibrateProjector org.arsandboxg.ARSandbox
• flatpak run –command=RawKinectViewer org.arsandboxg.ARSandbox

=== Using the Calibrate Projector utility: The utility uses mouse buttons to capture data:

• Left-Click: Captures a Tie Point (the position of your physical calibration disk).
• Right-Click: Captures the Background (the empty sandbox).

== Calibration Steps

1. Clear the sandbox: Make sure no hands or disks are in the way.
1. Capture Background: Right-click once. You will see a message in the terminal saying it's capturing background frames. Wait until it says done.
1. Capture Tie Points: 
  * A white crosshair will appear on the screen.
  * Place your calibration disk (usually a 6cm white circle) exactly under that crosshair on the sand.
  * Left-click. The terminal will show it's capturing frames for that point.
  * Once done, the crosshair will move to a new position.
  * Repeat this for all 12 positions (it defaults to a 4x3 grid).

As soon as you capture the 12th point, the utility immediately:

1. Calculates the "RMS calibration residual" (it prints this in the terminal).
1. Writes the result to the file `ProjectorMatrix.dat`.
1. File is saved to ''~/.var/app/org.arsandboxg.ARSandbox/config/SARndbox-5.0/ProjectorMatrix.dat''