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1. Here's a SLAM library repository link. The library is usually used with ZR300 rather than the R200 though.
The repository is the binary version of the library. For the source code version, Intel would be better able to find that for you if you need it.
Here's the link to the official Intel documentation for the SLAM library.
2. An excellent starting point for investigating using an R200 with SLAM would be the SAWR robot project by community member McCool