From d6f9f29835e5b0a4a96275f2a0e604b44ff63afd Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 9 Sep 2016 18:35:56 -0400
Subject: [PATCH] Fixed list not defined error in util3d_surface.h. Updated
 rgbd_mapping example with Freenect2, zed and realsense options

---
 corelib/include/rtabmap/core/util3d_surface.h |  1 +
 examples/RGBDMapping/main.cpp                 | 34 +++++++++++++++++--
 2 files changed, 32 insertions(+), 3 deletions(-)

diff --git a/corelib/include/rtabmap/core/util3d_surface.h b/corelib/include/rtabmap/core/util3d_surface.h
index fb4b8728..3fb1e6eb 100644
--- a/corelib/include/rtabmap/core/util3d_surface.h
+++ b/corelib/include/rtabmap/core/util3d_surface.h
@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/CameraModel.h>
 #include <set>
+#include <list>
 
 namespace rtabmap
 {
diff --git a/examples/RGBDMapping/main.cpp b/examples/RGBDMapping/main.cpp
index 4f1ad42d..21a46060 100644
--- a/examples/RGBDMapping/main.cpp
+++ b/examples/RGBDMapping/main.cpp
@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/core/RtabmapThread.h"
 #include "rtabmap/core/CameraRGBD.h"
+#include "rtabmap/core/CameraStereo.h"
 #include "rtabmap/core/CameraThread.h"
 #include "rtabmap/core/OdometryThread.h"
 #include "rtabmap/core/Graph.h"
@@ -44,7 +45,7 @@ void showUsage()
 {
 	printf("\nUsage:\n"
 			"rtabmap-rgbd_mapping driver\n"
-			"  driver       Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
+			"  driver       Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=ZED SDK, 7=RealSense\n\n");
 	exit(1);
 }
 
@@ -62,9 +63,9 @@ int main(int argc, char * argv[])
 	else
 	{
 		driver = atoi(argv[argc-1]);
-		if(driver < 0 || driver > 4)
+		if(driver < 0 || driver > 7)
 		{
-			UERROR("driver should be between 0 and 4.");
+			UERROR("driver should be between 0 and 7.");
 			showUsage();
 		}
 	}
@@ -112,6 +113,33 @@ int main(int argc, char * argv[])
 		}
 		camera = new CameraOpenNICV(true, 0, opticalRotation);
 	}
+	else if (driver == 5)
+	{
+		if (!CameraFreenect2::available())
+		{
+			UERROR("Not built with Freenect2 support...");
+			exit(-1);
+		}
+		camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD, 0, opticalRotation);
+	}
+	else if (driver == 6)
+	{
+		if (!CameraStereoZed::available())
+		{
+			UERROR("Not built with ZED SDK support...");
+			exit(-1);
+		}
+		camera = new CameraStereoZed(0, 2, 1, 1, 100, false, 0, opticalRotation);
+	}
+	else if (driver == 7)
+	{
+		if (!CameraRealSense::available())
+		{
+			UERROR("Not built with RealSense support...");
+			exit(-1);
+		}
+		camera = new CameraRealSense(0, 0, 0, 0, opticalRotation);
+	}
 	else
 	{
 		camera = new rtabmap::CameraOpenni("", 0, opticalRotation);