This is a difficult subject to explain, as the YOR tool is not deeply documented. The first step I would recommend if you have not done so already is to go to the very bottom of the page linked to below, where scripting for YOR is explained.
The next part is where it gets tricky. My interpretation of the instructions is you should then go to the top of the article and work through the numbered setup steps, but make the changes to the instructions specified in the YOR section at the bottom of the page
I understand it is not very intuitive and it would probably help if you pasted the YOR instructions into a word processor window so you do not have to keep going back to the bottom of the page to check things!
Looking at this right now: Intel® RealSense™ SDK for Linux: Developer's Guide - Compile for Qt section.
Still need to get over the hurdle of compiling the SDK samples first before we begin to make the necessary code updates to implement YOR.
The SDK's instructions recommend the process below for installing the samples from source. They are then placed in a build folder once compiled.
$ sudo apt install build-essential git cmake libjpeg-dev libopencv-dev
$ cd realsense_samples
$ mkdir build
$ cd build
$ cmake ..