How do I export Point Cloud Data (Project Tango)?

Question

Just got a Project Tango Development Kit tablet and have worked through some of the demos and examples.

Some older blog posts use the log files from a "Tango Map

Answer 1

Sparse mapping: https://www.youtube.com/watch?v=x5C_HNnW_3Q

More indoor mapping: https://www.youtube.com/watch?v=3BNOsxMZD14

It appears that more than a few of the contributors to the Tango project were hired or bought by google. As an example most of the links to code and/or articles by Hidof are MIA, only a facebook page with few clues remains. The internet archive's wayback machine has a few snapshots of their website for the curious.