Tango.Tango3DReconstruction.OnTangoDepthMultithreadedAvailable C# (CSharp) Method

        public void OnTangoDepthMultithreadedAvailable(TangoXYZij tangoDepth)
        {
            if (!m_enabled)
            {
                return;
            }

            // Build World T depth camera
            TangoPoseData world_T_devicePose = new TangoPoseData();
            if (m_useAreaDescriptionPose)
            {
                TangoCoordinateFramePair pair;
                pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
                pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
                PoseProvider.GetPoseAtTime(world_T_devicePose, tangoDepth.timestamp, pair);
            }
            else
            {
                TangoCoordinateFramePair pair;
                pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
                pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
                PoseProvider.GetPoseAtTime(world_T_devicePose, tangoDepth.timestamp, pair);
            }

            if (world_T_devicePose.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
            {
                Debug.Log(string.Format("Time {0} has bad status code {1}",
                                        tangoDepth.timestamp, world_T_devicePose.status_code)
                          + Environment.StackTrace);
                return;
            }

            // NOTE: The 3D Reconstruction library does not handle left handed matrices correctly.  For now, transform
            // into the Unity world space after extraction.
            Matrix4x4 world_T_depthCamera = world_T_devicePose.ToMatrix4x4() * m_device_T_depthCamera;

            _UpdateDepth(tangoDepth, world_T_depthCamera);
        }