Raspberry Pi Depth Camera Setup

I have an Orbbec Astra S depth camera connected to a Raspberry Pi and I need a clean way to open a real-time depth window so I can proceed with some research and development experiments.

The job is straightforward: provide working code plus any required configuration files or libraries that will display the depth stream in its own window directly on the Pi. Whether you choose Python, C++, or another language is up to you—as long as the end result runs reliably on the Pi and can be reproduced from your instructions.

Please include:
• A brief description of the libraries or SDKs you use (e.g., Orbbec Astra SDK, OpenNI, OpenCV, etc.)
• Step-by-step setup commands from a fresh Raspberry Pi install to a running depth window
• Source code with clear comments so I can extend it for future experiments

Acceptance criteria: when I follow your steps on my Pi, a depth preview window opens and updates in real time without errors.