Tango.Tango3DReconstruction.ExtractMeshSegment C# (CSharp) Method

        internal Status ExtractMeshSegment(
            GridIndex gridIndex, Vector3[] vertices, Vector3[] normals, Color32[] colors, int[] triangles,
            out int numVertices, out int numTriangles)
        {
            numVertices = 0;
            numTriangles = 0;
            int result = API.Tango3DR_extractPreallocatedMeshSegment(
                m_context, ref gridIndex, vertices.Length, triangles.Length / 3, vertices, triangles, normals, colors,
                out numVertices, out numTriangles);

            // NOTE: The 3D Reconstruction library does not handle left handed matrices correctly.  For now, transform
            // into the Unity world space after extraction and account for winding order changes.
            for (int it = 0; it < numVertices; ++it)
            {
                vertices[it] = m_unityWorld_T_startService.MultiplyPoint(vertices[it]);
            }

            for (int it = 0; it < numTriangles; ++it)
            {
                int temp = triangles[(it * 3) + 0];
                triangles[(it * 3) + 0] = triangles[(it * 3) + 1];
                triangles[(it * 3) + 1] = temp;
            }

            return (Status)result;
        }