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diff --git a/UnityExamples/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/BuildConfig.class.meta b/UnityExamples/Assets/Plugins/Android/tango-unity-helper/bin/classes/com/projecttango/unity/BuildConfig.class.meta
index 28fcf369..36c80fa4 100644
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index b3ce26bd..b2182856 100644
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index 6ae17355..166af09c 100644
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index ca9aa555..5a65f8c7 100644
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml
index bfa61674..3f07b937 100644
--- a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml
+++ b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml
@@ -20,7 +20,7 @@
     android:versionName="0" >
 
     <uses-sdk
-        android:minSdkVersion="17"
+        android:minSdkVersion="19"
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/AndroidManifest.xml.meta
index 1d524006..bdba7185 100644
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@@ -1,5 +1,5 @@
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt
index 61702d1c..a7663cd1 100644
--- a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt
+++ b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/bin/R.txt
@@ -1,14 +1,14 @@
 int color gray_dark 0x7f040000
-int color tango_blue 0x7f040004
-int color tango_green 0x7f040003
-int color tango_yellow 0x7f040005
-int color text_exception_action_required 0x7f040002
-int color text_exception_description 0x7f040001
+int color tango_blue 0x7f040001
+int color tango_green 0x7f040002
+int color tango_yellow 0x7f040003
+int color text_exception_action_required 0x7f040004
+int color text_exception_description 0x7f040005
 int dimen connection_progress_bar_sub_margin 0x7f050000
 int dimen exception_component_height 0x7f050001
 int dimen exception_status_component_size 0x7f050002
-int dimen hold_steady_bubble_level_max_y 0x7f050004
-int dimen hold_steady_frame_transform_pivot_y 0x7f050003
+int dimen hold_steady_bubble_level_max_y 0x7f050003
+int dimen hold_steady_frame_transform_pivot_y 0x7f050004
 int dimen hold_steady_trace_size 0x7f050005
 int drawable exception_container_shadow 0x7f020000
 int drawable hold_steady_bubble_level_err 0x7f020001
@@ -45,38 +45,37 @@ int layout exception_component 0x7f030001
 int layout layout_connection 0x7f030002
 int layout layout_splash 0x7f030003
 int layout layout_tango_ux 0x7f030004
-int string action_required 0x7f060015
-int string connection_layout_description 0x7f060017
-int string connection_layout_message 0x7f060016
-int string device_not_responding_description 0x7f06000c
-int string device_not_responding_title 0x7f06000b
-int string lying_on_surface_description 0x7f060010
-int string lying_on_surface_title 0x7f06000f
-int string motion_track_description 0x7f060012
-int string motion_track_title 0x7f060011
-int string moving_too_fast_description 0x7f060002
-int string moving_too_fast_title 0x7f060001
-int string not_enough_light_description 0x7f060008
-int string not_enough_light_title 0x7f060007
-int string project_tango 0x7f060000
-int string run_time_mismatch_description 0x7f060014
-int string run_time_mismatch_title 0x7f060013
-int string service_updated_description 0x7f06000e
-int string service_updated_title 0x7f06000d
-int string space_not_recognized_description 0x7f060006
-int string space_not_recognized_title 0x7f060005
-int string too_much_light_description 0x7f06000a
-int string too_much_light_title 0x7f060009
-int string unable_to_detect_surface_description 0x7f060004
-int string unable_to_detect_surface_title 0x7f060003
-int style ConnectionLayoutSubtext 0x7f070003
-int style ConnectionLayoutText 0x7f070002
-int style DownloadProgressText 0x7f070004
-int style ExceptionActionRequired 0x7f070007
-int style ExceptionDescription 0x7f070006
+int string action_required 0x7f060000
+int string connection_layout_message 0x7f060001
+int string device_not_responding_description 0x7f060002
+int string device_not_responding_title 0x7f060003
+int string lying_on_surface_description 0x7f060004
+int string lying_on_surface_title 0x7f060005
+int string motion_track_description 0x7f060006
+int string motion_track_title 0x7f060007
+int string moving_too_fast_description 0x7f060008
+int string moving_too_fast_title 0x7f060009
+int string not_enough_light_description 0x7f06000a
+int string not_enough_light_title 0x7f06000b
+int string project_tango 0x7f06000c
+int string run_time_mismatch_description 0x7f06000d
+int string run_time_mismatch_title 0x7f06000e
+int string service_updated_description 0x7f06000f
+int string service_updated_title 0x7f060010
+int string space_not_recognized_description 0x7f060011
+int string space_not_recognized_title 0x7f060012
+int string too_much_light_description 0x7f060013
+int string too_much_light_title 0x7f060014
+int string unable_to_detect_surface_description 0x7f060015
+int string unable_to_detect_surface_title 0x7f060016
+int style ConnectionLayoutSubtext 0x7f070000
+int style ConnectionLayoutText 0x7f070001
+int style DownloadProgressText 0x7f070002
+int style ExceptionActionRequired 0x7f070003
+int style ExceptionDescription 0x7f070004
 int style ExceptionTitle 0x7f070005
-int style Text20GrayDarkLight 0x7f070001
-int style Text40GrayDarkThin 0x7f070000
-int style TextListContentItem 0x7f07000a
-int style TextListTitle 0x7f070008
-int style TextListTitleItem 0x7f070009
+int style Text20GrayDarkLight 0x7f070006
+int style Text40GrayDarkThin 0x7f070007
+int style TextListContentItem 0x7f070008
+int style TextListTitle 0x7f070009
+int style TextListTitleItem 0x7f07000a
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi.meta
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_bubble_level_ok.png.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_bubble_level_ok.png.meta
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_left_1.png.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_left_1.png.meta
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_left_2.png.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_left_2.png.meta
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diff --git a/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_right_1.png.meta b/UnityExamples/Assets/Plugins/Android/tango-ux-support-library/res/drawable-xhdpi/hold_steady_trace_right_1.png.meta
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+--- !u!33 &3388810
+MeshFilter:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 141338}
+  m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
 --- !u!64 &6406318
 MeshCollider:
   m_ObjectHideFlags: 1
@@ -75,6 +137,18 @@ MeshCollider:
   serializedVersion: 2
   m_Convex: 0
   m_Mesh: {fileID: 4300000, guid: 6c28710ea3d26482eba596282b5e6538, type: 3}
+--- !u!64 &6411824
+MeshCollider:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 141338}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 0
+  serializedVersion: 2
+  m_Convex: 0
+  m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
 --- !u!111 &11140948
 Animation:
   m_ObjectHideFlags: 1
@@ -102,8 +176,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 81f9f42e3ed5b417f97d7297e8ea7582, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_normalShader: {fileID: 10703, guid: 0000000000000000f000000000000000, type: 0}
-  m_selectedShader: {fileID: 30, guid: 0000000000000000f000000000000000, type: 0}
 --- !u!1001 &100100000
 Prefab:
   m_ObjectHideFlags: 1
diff --git a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/ARScreen.cs b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/ARScreen.cs
index 594a6d72..f633a255 100644
--- a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/ARScreen.cs
+++ b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/ARScreen.cs
@@ -300,8 +300,15 @@ private void _SetCameraIntrinsics()
         float verticalFOV = 2.0f * Mathf.Rad2Deg * Mathf.Atan((intrinsics.height * 0.5f) / (float)intrinsics.fy);
         if (!float.IsNaN(verticalFOV))
         {
-            m_renderCamera.fieldOfView = verticalFOV;
-            
+            m_renderCamera.projectionMatrix = 
+                ProjectionMatrixForCameraIntrinsics((float)intrinsics.width,
+                                                    (float)intrinsics.height,
+                                                    (float)intrinsics.fx,
+                                                    (float)intrinsics.fy,
+                                                    (float)intrinsics.cx,
+                                                    (float)intrinsics.cy,
+                                                    0.1f, 1000.0f);
+
             // Here we are scaling the image plane to make sure the image plane's ratio is set as the
             // color camera image ratio.
             // If we don't do this, because we are drawing the texture fullscreen, the image plane will
@@ -320,4 +327,57 @@ private void _SetCameraIntrinsics()
             }
         }
     }
+
+    /// <summary>
+    /// Create a projection matrix from window size, camera intrinsics, and clip settings.
+    /// </summary>
+    /// <param name="width">The width of the camera image.</param>
+    /// <param name="height">The height of the camera image.</param> 
+    /// <param name="fx">The x-axis focal length of the camera.</param> 
+    /// <param name="fy">The y-axis focal length of the camera.</param> 
+    /// <param name="cx">The x-coordinate principal point in pixels.</param> 
+    /// <param name="cy">The y-coordinate principal point in pixels.</param> 
+    /// <param name="near">The desired near z-clipping plane.</param> 
+    /// <param name="far">The desired far z-clipping plane.</param> 
+    private Matrix4x4 ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                          float fx, float fy,
+                                                          float cx, float cy,
+                                                          float near, float far) {
+        float xscale = near / fx;
+        float yscale = near / fy;
+        
+        float xoffset =  (cx - (width  / 2.0f)) * xscale;
+        // OpenGL coordinates has y pointing downwards so we negate this term.
+        float yoffset = -(cy - (height / 2.0f)) * yscale;
+        
+        return  Frustum(xscale * -width  / 2.0f - xoffset,
+                        xscale *  width  / 2.0f - xoffset,
+                        yscale * -height / 2.0f - yoffset,
+                        yscale *  height / 2.0f - yoffset,
+                        near, far);
+    }
+
+    /// <summary>
+    /// This is function compute the projection matrix based on frustum size.
+    /// This function's implementation is same as glFrustum.
+    /// </summary>
+    /// <param name="left">Specify the coordinates for the left vertical clipping planes.</param>
+    /// <param name="right">Specify the coordinates for the right vertical clipping planes.</param> 
+    /// <param name="bottom">Specify the coordinates for the bottom horizontal clipping planes.</param> 
+    /// <param name="top">Specify the coordinates for the top horizontal clipping planes.</param> 
+    /// <param name="zNear">Specify the distances to the near depth clipping planes. Both distances must be positive.</param> 
+    /// <param name="zFar">Specify the distances to the far depth clipping planes. Both distances must be positive.</param> 
+    private Matrix4x4 Frustum(float left,
+                      float right,
+                      float bottom,
+                      float top,
+                      float zNear,
+                      float zFar) {
+        Matrix4x4 m = new Matrix4x4();
+        m.SetRow(0, new Vector4(2.0f * zNear / (right - left), 0.0f,                         (right + left) / (right - left) , 0.0f));
+        m.SetRow(1, new Vector4(0.0f,                          2.0f * zNear/ (top - bottom), (top + bottom) / (top - bottom) , 0.0f));
+        m.SetRow(2, new Vector4(0.0f,                          0.0f,                         -(zFar + zNear) / (zFar - zNear), -(2 * zFar * zNear) / (zFar - zNear)));
+        m.SetRow(3, new Vector4(0.0f,                          0.0f,                         -1.0f, 0.0f));
+        return m;
+    }
 }
diff --git a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/AugmentedRealityGUIController.cs b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/AugmentedRealityGUIController.cs
index 59ceb6bd..54511351 100644
--- a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/AugmentedRealityGUIController.cs
+++ b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Scripts/AugmentedRealityGUIController.cs
@@ -411,7 +411,22 @@ private void _UpdateLocationMarker()
                 {
                     return;
                 }
-                Instantiate(m_prefabLocation, planeCenter, Quaternion.FromToRotation(Vector3.up, plane.normal));
+
+                // Ensure the location is always facing the camera.  This is like a LookRotation, but for the Y axis.
+                Vector3 up = plane.normal;
+                Vector3 forward;
+                if (Vector3.Angle(plane.normal, cam.transform.forward) < 175)
+                {
+                    Vector3 right = Vector3.Cross(up, cam.transform.forward).normalized;
+                    forward = Vector3.Cross(right, up).normalized;
+                }
+                else
+                {
+                    // Normal is nearly parallel to camera look direction, the cross product would have too much
+                    // floating point error in it.
+                    forward = Vector3.Cross(up, cam.transform.right);
+                }
+                Instantiate(m_prefabLocation, planeCenter, Quaternion.LookRotation(forward, up));
                 m_selectedMarker = null;
             }
         }
diff --git a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png
new file mode 100644
index 00000000..c863eae3
Binary files /dev/null and b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png differ
diff --git a/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png.meta b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png.meta
new file mode 100644
index 00000000..05b4c30b
--- /dev/null
+++ b/UnityExamples/Assets/TangoExamples/ExperimentalAugmentedReality/Textures/pin_shadow.png.meta
@@ -0,0 +1,55 @@
+fileFormatVersion: 2
+guid: 270aaf7f8aaa0454ab5c3ed1e3d06087
+timeCreated: 1441140192
+licenseType: Pro
+TextureImporter:
+  fileIDToRecycleName: {}
+  serializedVersion: 2
+  mipmaps:
+    mipMapMode: 0
+    enableMipMap: 1
+    linearTexture: 0
+    correctGamma: 0
+    fadeOut: 0
+    borderMipMap: 0
+    mipMapFadeDistanceStart: 1
+    mipMapFadeDistanceEnd: 3
+  bumpmap:
+    convertToNormalMap: 0
+    externalNormalMap: 0
+    heightScale: .25
+    normalMapFilter: 0
+  isReadable: 0
+  grayScaleToAlpha: 0
+  generateCubemap: 0
+  cubemapConvolution: 0
+  cubemapConvolutionSteps: 8
+  cubemapConvolutionExponent: 1.5
+  seamlessCubemap: 0
+  textureFormat: -1
+  maxTextureSize: 2048
+  textureSettings:
+    filterMode: -1
+    aniso: -1
+    mipBias: -1
+    wrapMode: -1
+  nPOTScale: 1
+  lightmap: 0
+  rGBM: 0
+  compressionQuality: 50
+  spriteMode: 0
+  spriteExtrude: 1
+  spriteMeshType: 1
+  alignment: 0
+  spritePivot: {x: .5, y: .5}
+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spritePixelsToUnits: 100
+  alphaIsTransparency: 1
+  textureType: -1
+  buildTargetSettings: []
+  spriteSheet:
+    sprites: []
+  spritePackingTag: 
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/UnityExamples/Assets/TangoSDK/Core.meta b/UnityExamples/Assets/TangoSDK/Core.meta
index ea3c0c43..2dcc9fae 100644
--- a/UnityExamples/Assets/TangoSDK/Core.meta
+++ b/UnityExamples/Assets/TangoSDK/Core.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: b80c15ce37a1447f69e465cf133f71b6
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts.meta b/UnityExamples/Assets/TangoSDK/Core/Scripts.meta
index da3b86a8..c40fbb99 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: 8e63f857443034fb6b291e8ff42a6c60
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common.meta b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common.meta
index 954f4682..b6ca0cfe 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: a96639d914c7d4c11aa8634e9e475b09
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/Common.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/Common.cs
index f244d824..79eb1efc 100755
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/Common.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/Common.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="Common.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Runtime.InteropServices;
 using UnityEngine;
 
@@ -33,16 +37,39 @@ public struct Common
         /// </summary>
         public struct ErrorType
         {
-            public static readonly int TANGO_NO_CAMERA_PERMISSION = -5;   /**< Camera access not allowed */
-            public static readonly int TANGO_NO_ADF_PERMISSION = -4;  /**< ADF access not allowed */
-            public static readonly int TANGO_NO_MOTION_TRACKING_PERMISSION = -3;  /**< Motion tracking not allowed*/
+            /// <summary>
+            /// Camera access not allowed.
+            /// </summary>
+            public static readonly int TANGO_NO_CAMERA_PERMISSION = -5;
+
+            /// <summary>
+            /// ADF access not allowed.
+            /// </summary>
+            public static readonly int TANGO_NO_ADF_PERMISSION = -4;
+
+            /// <summary>
+            /// Motion tracking not allowed.
+            /// </summary>
+            public static readonly int TANGO_NO_MOTION_TRACKING_PERMISSION = -3;
+
+            /// <summary>
+            /// General invalid state.
+            /// </summary>
             public static readonly int TANGO_INVALID = -2;
+
+            /// <summary>
+            /// General error state.
+            /// </summary>
             public static readonly int TANGO_ERROR = -1;
+
+            /// <summary>
+            /// No error, success.
+            /// </summary>
             public static readonly int TANGO_SUCCESS = 0;
         }
 
         /// <summary>
-        /// Metadata keys supported by Tango APIs
+        /// Metadata keys supported by Tango APIs.
         /// </summary>
         public struct MetaDataKeyType
         {
@@ -52,24 +79,28 @@ public struct MetaDataKeyType
             public const string KEY_TRANSFORMATION = "transformation";
         }
 
-		public enum AndroidResult
-		{
-			SUCCESS = -1,
-			CANCELED = 0,
-			DENIED = 1
-		}
-
-        public const string TANGO_UNITY_DLL = "tango_client_api";
+        /// <summary>
+        /// Return values from Android actvities.
+        /// </summary>
+        public enum AndroidResult
+        {
+            SUCCESS = -1,
+            CANCELED = 0,
+            DENIED = 1
+        }
 
+        /// <summary>
+        /// DEPRECATED: Empty string.
+        /// </summary>
         public const string TANGO_PERMISSION_STRING = "";
-        public const string TANGO_MOTION_TRACKING_PERMISSIONS = "MOTION_TRACKING_PERMISSION";
-        public const string TANGO_ADF_LOAD_SAVE_PERMISSIONS = "ADF_LOAD_SAVE_PERMISSION";
-		public const string TANGO_NO_PERMISSIONS_ERROR = "This application requires all Tango permissions to run. Please restart the application and grant Tango permissions.";
-		public const int TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE = 42;
-		public const int TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE = 43;
 
-        public const int UNITY_MAX_SUPPORTED_VERTS_PER_MESH = 65534;
+        /// <summary>
+        /// DEPRECATED: Tango permissions error.
+        /// </summary>
+        public const string TANGO_NO_PERMISSIONS_ERROR = "This application requires all Tango permissions to run. Please restart the application and grant Tango permissions.";
 
+        //// \cond
+        //// Collection of deprecated fields that should be removed
         public const float UI_LABEL_START_X = 15.0f;
         public const float UI_LABEL_START_Y = 15.0f;
         public const float UI_LABEL_SIZE_X = 1920.0f;
@@ -86,33 +117,68 @@ public enum AndroidResult
         public const float UI_DEPTH_LABLE_START_Y = UI_POSE_LABEL_START_Y + UI_LABEL_OFFSET;
         public const string UI_FLOAT_FORMAT = "F3";
         public const string UI_FONT_SIZE = "<size=25>";
-
+        
         public const float UI_TANGO_VERSION_X = UI_LABEL_START_X;
         public const float UI_TANGO_VERSION_Y = UI_LABEL_START_Y;
         public const float UI_TANGO_APP_SPECIFIC_START_X = UI_TANGO_VERSION_X;
         public const float UI_TANGO_APP_SPECIFIC_START_Y = UI_TANGO_VERSION_Y + (UI_LABEL_OFFSET * 2);
-
+        
         public const string UX_SERVICE_VERSION = "Service version: {0}";
         public const string UX_TANGO_SERVICE_VERSION = "Tango service version: {0}";
         public const string UX_TANGO_SYSTEM_EVENT = "Tango system event: {0}";
         public const string UX_TARGET_TO_BASE_FRAME = "Target->{0}, Base->{1}:";
         public const string UX_STATUS = "\tstatus: {0}, count: {1}, delta time(ms): {2}, position (m): [{3}], orientation: [{4}]";
-        
-        public const int UUID_LENGTH = 37;
         public const float SECOND_TO_MILLISECOND = 1000.0f;
-        
-    #if (UNITY_EDITOR)
+        //// \endcond
+
+        /// <summary>
+        /// Name of the Tango C-API library.
+        /// </summary>
+        internal const string TANGO_UNITY_DLL = "tango_client_api";
+
+        /// <summary>
+        /// Motion Tracking permission intent string.
+        /// </summary>
+        internal const string TANGO_MOTION_TRACKING_PERMISSIONS = "MOTION_TRACKING_PERMISSION";
+
+        /// <summary>
+        /// ADF Load/Save permission intent string.
+        /// </summary>
+        internal const string TANGO_ADF_LOAD_SAVE_PERMISSIONS = "ADF_LOAD_SAVE_PERMISSION";
+
+        /// <summary>
+        /// Code used to identify the result came from the Motion Tracking permission request.
+        /// </summary>
+        internal const int TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE = 42;
+
+        /// <summary>
+        /// Code used to identify the result came from the ADF Load/Save permission request.
+        /// </summary>
+        internal const int TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE = 43;
+
+        /// <summary>
+        /// Max number of vertices the Point Cloud supports.
+        /// </summary>
+        internal const int UNITY_MAX_SUPPORTED_VERTS_PER_MESH = 65534;
+
+        /// <summary>
+        /// The length of an area description ID string.
+        /// </summary>
+        internal const int UUID_LENGTH = 37;
+
+        //// Backing for deprecated properties below.
+#if (UNITY_EDITOR)
         private static bool m_mirroring = true; 
-    #elif (UNITY_ANDROID) 
+#elif (UNITY_ANDROID) 
         private static bool m_mirroring = false; 
-    #else 
+#else 
         private static bool m_mirroring = false;
-    #endif
+#endif
         private static Resolution m_depthFrameResolution;
         private static int m_depthBufferSize;
 
         /// <summary>
-        /// Property for mirroring.
+        /// DEPRECATED: Property for mirroring.
         /// </summary>
         /// <value> Bool - sets mirroring.</value>
         public static bool Mirroring
@@ -122,7 +188,7 @@ public static bool Mirroring
         }
 
         /// <summary>
-        /// Property for the current depth frame resolution.
+        /// DEPRECATED: Property for the current depth frame resolution.
         /// </summary>
         /// <value> Resolution - Sets depth frame resolution reference.</value>
         public static Resolution DepthFrameResolution
@@ -132,7 +198,7 @@ public static Resolution DepthFrameResolution
         }
 
         /// <summary>
-        /// Property for the depth buffer size.
+        /// DEPRECATED: Property for the depth buffer size.
         /// </summary>
         /// <value> Bool - Sets the size of the depth buffer.</value>
         public static int DepthBufferSize
@@ -142,7 +208,7 @@ public static int DepthBufferSize
         }
 
         /// <summary>
-        /// Get the world rotation.
+        /// DEPRECATED: Get the world rotation.
         /// </summary>
         /// <returns> Quaternion representing the world rotation.</returns>
         public static Quaternion GetWorldRotation()
@@ -151,10 +217,11 @@ public static Quaternion GetWorldRotation()
         } 
         
         /// <summary>
-        /// Gets current window resoltion where width is
-        /// always larger than height.
+        /// DEPRECATED: Get the screen size if the screen was in landscape mode.
+        /// 
+        /// This looks at Screen.width and Screen.height.
         /// </summary>
-        /// <returns> Vector2 containing the screen width and height. </returns>
+        /// <returns>Vector2 containing the screen size.</returns>
         public static Vector2 GetWindowResolution()
         {
             Vector2 screenSize;
@@ -168,12 +235,21 @@ public static Vector2 GetWindowResolution()
             }
             return screenSize;
         }
-        
+
+        /// <summary>
+        /// DEPRECATED: Get the aspect ratio of the screen in landscape mode.
+        /// </summary>
+        /// <returns>Aspect ratio.</returns>
+        public static float GetWindowResolutionAspect()
+        {
+            Vector2 resolution = GetWindowResolution();
+            return resolution.x / resolution.y;
+        }
+
         /// <summary>
-        /// Get the aspect resolution of the window.
+        /// DEPRECATED: Misspelled version of GetWindowResolutionAspect.
         /// </summary>
-        /// <returns> Window resolution aspect ratio as a single
-        /// precision floating point.</returns>
+        /// <returns>Aspect ratio.</returns>
         public static float GetWindowResoltionAspect()
         {
             Vector2 resolution = GetWindowResolution();
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs
index 56ca6f46..b80bedf0 100755
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/OrientationManager.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="OrientationManager.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
@@ -21,55 +25,55 @@ namespace Tango
     /// <summary>
     /// Manages the orientation of the screen.
     /// </summary>
-	public class OrientationManager
-	{
+    public class OrientationManager
+    {
         /// <summary>
         /// Gets the Screen orientation.
         /// </summary>
         /// <returns> Returns the current orientation of the screen. </returns>
-		public static ScreenOrientation GetScreenOrientation()
+        public static ScreenOrientation GetScreenOrientation()
         {
-		#if (UNITY_EDITOR || UNITY_STANDALONE_OSX)
-			if (Screen.width > Screen.height)
+#if (UNITY_EDITOR || UNITY_STANDALONE_OSX)
+            if (Screen.width > Screen.height)
             {
-				return ScreenOrientation.LandscapeLeft;
+                return ScreenOrientation.LandscapeLeft;
             }
-			else
+            else
             {
-				return ScreenOrientation.Portrait;
+                return ScreenOrientation.Portrait;
             }
-		#elif (UNITY_IPHONE || UNITY_ANDROID)
-			return Screen.orientation; 
-		#else 
-			#error not supported platform
-		#endif
-		}
-		
+#elif (UNITY_IPHONE || UNITY_ANDROID)
+            return Screen.orientation; 
+#else 
+#error not supported platform
+#endif
+        }
+
         /// <summary>
         /// Get the current world rotation.
         /// </summary>
         /// <returns> Returns a Quaternion representing the current world rotation.</returns>
-		public static Quaternion GetWorldRotation()
+        public static Quaternion GetWorldRotation()
         {
-			ScreenOrientation orientation = GetScreenOrientation();
-			Quaternion transformation = Quaternion.identity;
-			if (orientation == ScreenOrientation.LandscapeLeft)
+            ScreenOrientation orientation = GetScreenOrientation();
+            Quaternion transformation = Quaternion.identity;
+            if (orientation == ScreenOrientation.LandscapeLeft)
             {
-				transformation = Quaternion.identity;
-			}
+                transformation = Quaternion.identity;
+            }
             else if (orientation == ScreenOrientation.LandscapeRight)
             {
-				transformation = Quaternion.AngleAxis(180f, Vector3.forward);
-			}
+                transformation = Quaternion.AngleAxis(180f, Vector3.forward);
+            }
             else if (orientation == ScreenOrientation.PortraitUpsideDown)
             {
-				transformation = Quaternion.AngleAxis(90f, Vector3.forward);
-			}
+                transformation = Quaternion.AngleAxis(90f, Vector3.forward);
+            }
             else if (orientation == ScreenOrientation.Portrait)
             {
-				transformation = Quaternion.AngleAxis(-90f, Vector3.forward);
-			}
-			return transformation;
-		}
-	}
+                transformation = Quaternion.AngleAxis(-90f, Vector3.forward);
+            }
+            return transformation;
+        }
+    }
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs
index bf6de0e4..091e8ead 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoAndroidHelper.cs
@@ -1,86 +1,96 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-using UnityEngine;
+//-----------------------------------------------------------------------
+// <copyright file="TangoAndroidHelper.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
+using UnityEngine;
 
 /// <summary>
-/// Helper functions for common android functionality.
+/// Misc Android related utilities provided by the Tango CoreSDK.
 /// </summary>
 public partial class AndroidHelper
 {
     /// <summary>
-    /// Holds the current and default offset of the
-    /// current Tango device.
+    /// Holds the current and default orientation of the device.
     /// </summary>
     public struct TangoDeviceOrientation
     {
+        /// <summary>
+        /// The default orientation of the device.  This is the "natural" way to hold this device.
+        /// </summary>
         public DeviceOrientation defaultRotation;
+
+        /// <summary>
+        /// The current orientation of the device.
+        /// </summary>
         public DeviceOrientation currentRotation;
     }
 
     private const string PERMISSION_REQUESTER = "com.projecttango.permissionrequester.RequestManagerActivity";
 
-    #pragma warning disable 414
+#if UNITY_ANDROID && !UNITY_EDITOR
     private static AndroidJavaObject m_tangoHelper = null;
-    #pragma warning restore 414
-    
+#endif
+
     /// <summary>
     /// Gets the Java tango helper object.
     /// </summary>
     /// <returns>The tango helper object.</returns>
     public static AndroidJavaObject GetTangoHelperObject()
     {
-        #if UNITY_ANDROID && !UNITY_EDITOR
+#if UNITY_ANDROID && !UNITY_EDITOR
         if(m_tangoHelper == null)
         {
             m_tangoHelper = new AndroidJavaObject("com.projecttango.unity.TangoUnityHelper", GetUnityActivity());
         }
         return m_tangoHelper;
-        #else
+#else
         return null;
-        #endif
+#endif
     }
     
     /// <summary>
-    /// Starts the tango permissions activity of the provided type.
+    /// Start the Tango permissions activity, requesting that permission.
     /// </summary>
-    /// <param name="permissionsType">Permissions type.</param>
+    /// <param name="permissionsType">String for the permission to request.</param>
     public static void StartTangoPermissionsActivity(string permissionsType)
     {
         AndroidJavaObject unityActivity = GetUnityActivity();
         
-        if(unityActivity != null)
+        if (unityActivity != null)
         {
             int requestCode = 0;
             string[] args = new string[1];
-            
-            if(permissionsType == Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS)
+
+            if (permissionsType == Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS)
             {
                 requestCode = Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE;
                 args[0] = "PERMISSIONTYPE:" + Tango.Common.TANGO_MOTION_TRACKING_PERMISSIONS;
             }
-            else if(permissionsType == Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS)
+            else if (permissionsType == Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS)
             {
                 requestCode = Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE;
                 args[0] = "PERMISSIONTYPE:" + Tango.Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS;
             }
             
-            if(requestCode != 0)
+            if (requestCode != 0)
             {
-                unityActivity.Call("LaunchIntent", "com.projecttango.tango", "com.google.atap.tango.RequestPermissionActivity", args, requestCode);
+                unityActivity.Call("launchIntent", "com.projecttango.tango", "com.google.atap.tango.RequestPermissionActivity", args, requestCode);
             }
             else
             {
@@ -88,15 +98,16 @@ public static void StartTangoPermissionsActivity(string permissionsType)
             }
         }
     }
-    
+
     /// <summary>
-    /// Determines if the application has Tango permissions.
+    /// Check if the application has a Tango permission.
     /// </summary>
-    /// <returns><c>true</c> if application has tango permissions; otherwise, <c>false</c>.</returns>
+    /// <param name="permissionType">String for the permission.</param>
+    /// <returns><c>true</c> if application has the permission; otherwise, <c>false</c>.</returns>
     public static bool ApplicationHasTangoPermissions(string permissionType)
     {
         AndroidJavaObject tangoObject = GetTangoHelperObject();
-        if(tangoObject != null)
+        if (tangoObject != null)
         {
             return tangoObject.Call<bool>("hasPermission", permissionType);
         }
@@ -105,9 +116,9 @@ public static bool ApplicationHasTangoPermissions(string permissionType)
     }
 
     /// <summary>
-    /// Gets the current and default device orientation.
+    /// Get the devices current and default orientations.
     /// </summary>
-    /// <returns>The current and default tango device orientation.</returns>
+    /// <returns>The current and default orientations.</returns>
     public static TangoDeviceOrientation GetTangoDeviceOrientation()
     {
         AndroidJavaObject tangoObject = GetTangoHelperObject();
@@ -115,7 +126,7 @@ public static TangoDeviceOrientation GetTangoDeviceOrientation()
         deviceOrientation.defaultRotation = DeviceOrientation.Unknown;
         deviceOrientation.currentRotation = DeviceOrientation.Unknown;
 
-        if(tangoObject != null)
+        if (tangoObject != null)
         {
             AndroidJavaObject rotationInfo = tangoObject.Call<AndroidJavaObject>("showTranslatedOrientation");
 
@@ -127,16 +138,16 @@ public static TangoDeviceOrientation GetTangoDeviceOrientation()
     }
     
     /// <summary>
-    /// Determines if is tango core present.
+    /// Check if the Tango Core package is installed.
     /// </summary>
-    /// <returns><c>true</c> if is tango core present; otherwise, <c>false</c>.</returns>
+    /// <returns><c>true</c> if the package is installed; otherwise, <c>false</c>.</returns>
     public static bool IsTangoCorePresent()
     {
         AndroidJavaObject unityActivity = GetUnityActivity();
         
-        if(unityActivity != null)
+        if (unityActivity != null)
         {
-            if(GetPackageInfo("com.projecttango.tango") != null)
+            if (GetPackageInfo("com.projecttango.tango") != null)
             {
                 return true;
             }
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs
index e434da9e..11759a30 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoEnums.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoEnums.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
@@ -24,99 +28,242 @@ namespace Tango
     public class TangoEnums
     {
         /// <summary>
-        /// Possible states for the motion tracking
+        /// Tango pose status lifecycle enumerations.
+        ///
+        /// Every pose has a state denoted by this enum, which provides information about the internal status of the
+        /// position estimate. The application may use the status to decide what actions or rendering should be taken.
+        /// A change in the status between poses and subsequent timestamps can denote lifecycle state changes. The
+        /// status affects the rotation and position estimates. Other fields are considered valid (i.e. version or
+        /// timestamp).
         /// </summary>
         public enum TangoPoseStatusType
         {
-            TANGO_POSE_INITIALIZING,  /**< Motion estimation is being initialized */
-            TANGO_POSE_VALID,             /**< The pose of this estimate is valid */
-            TANGO_POSE_INVALID,           /**< The pose of this estimate is not valid */
-            TANGO_POSE_UNKNOWN,            /**< Could not estimate pose at this time */
-            NA                             /***<Not Available, not a real tango pose status type*/
+            /// <summary>
+            /// Motion estimation is being initialized.
+            /// </summary>
+            TANGO_POSE_INITIALIZING,
+
+            /// <summary>
+            /// The pose of this estimate is valid.
+            /// </summary>
+            TANGO_POSE_VALID,
+
+            /// <summary>
+            /// The pose of this estimate is not valid.
+            /// </summary>
+            TANGO_POSE_INVALID,
+
+            /// <summary>
+            /// Could not estimate pose at this time.
+            /// </summary>
+            TANGO_POSE_UNKNOWN,
+
+            /// <summary>
+            /// Not Available, not a real <c>TangoPoseStatusType</c>.
+            /// </summary>
+            NA
         }
         
         /// <summary>
-        /// Coordinate frames provided by the Tango Service.
+        /// Tango coordinate frame enumerations.
         /// </summary>
         public enum TangoCoordinateFrameType
         {
-            /** Coordinate system for the entire Earth.
-            *  See WGS84: http://en.wikipedia.org/wiki/World_Geodetic_System
-            */
+            /// <summary>
+            /// Coordinate system for the entire Earth.
+            /// 
+            /// See WGS84: [http://en.wikipedia.org/wiki/World_Geodetic_System].
+            /// </summary>
             TANGO_COORDINATE_FRAME_GLOBAL_WGS84 = 0,
-            /** Origin within a saved area description */
+
+            /// <summary>
+            /// Origin within a saved area description.
+            /// </summary>
             TANGO_COORDINATE_FRAME_AREA_DESCRIPTION,
-            /** Origin when the device started tracking */
+
+            /// <summary>
+            /// Origin when the device started tracking.
+            /// </summary>
             TANGO_COORDINATE_FRAME_START_OF_SERVICE,
-            /** Immediately previous device pose */
+
+            /// <summary>
+            /// Immediately previous device pose.
+            /// </summary>
             TANGO_COORDINATE_FRAME_PREVIOUS_DEVICE_POSE,
-            TANGO_COORDINATE_FRAME_DEVICE,         /**< Device coordinate frame */
-            TANGO_COORDINATE_FRAME_IMU,            /**< Inertial Measurement Unit */
-            TANGO_COORDINATE_FRAME_DISPLAY,        /**< Display */
-            TANGO_COORDINATE_FRAME_CAMERA_COLOR,   /**< Color camera */
-            TANGO_COORDINATE_FRAME_CAMERA_DEPTH,   /**< Depth camera */
-            TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, /**< Fisheye camera */
+
+            /// <summary>
+            /// Device coordinate frame.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_DEVICE,
+
+            /// <summary>
+            /// Inertial Measurement Unit.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_IMU,
+
+            /// <summary>
+            /// Display.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_DISPLAY,
+
+            /// <summary>
+            /// Color camera.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_CAMERA_COLOR,
+
+            /// <summary>
+            /// Depth camera.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
+
+            /// <summary>
+            /// Fisheye camera.
+            /// </summary>
+            TANGO_COORDINATE_FRAME_CAMERA_FISHEYE,
+
+            /// <summary>
+            /// An invalid frame.
+            /// </summary>
             TANGO_COORDINATE_FRAME_INVALID,
-            TANGO_MAX_COORDINATE_FRAME_TYPE /**< Maximum allowed */
+
+            /// <summary>
+            /// Maximum allowed.
+            /// </summary>
+            TANGO_MAX_COORDINATE_FRAME_TYPE
         }
         
         /// <summary>
-        /// Enumeration containing the ID used for each
-        /// Tango camera.
+        /// Tango Camera enumerations.
         /// </summary>
         public enum TangoCameraId
         {
-            TANGO_CAMERA_COLOR = 0, /**< Back-facing color camera */
-            TANGO_CAMERA_RGBIR,      /**< Back-facing camera producing IR-sensitive images */
-            TANGO_CAMERA_FISHEYE,   /**< Back-facing fisheye wide-angle camera */
-            TANGO_CAMERA_DEPTH,     /**< Depth camera */
-            TANGO_MAX_CAMERA_ID     /**< Maximum camera allowable */
+            /// <summary>
+            /// Back-facing color camera.
+            /// </summary>
+            TANGO_CAMERA_COLOR = 0,
+
+            /// <summary>
+            /// Back-facing camera producing IR-sensitive images.
+            /// </summary>
+            TANGO_CAMERA_RGBIR,
+
+            /// <summary>
+            /// Back-facing fisheye wide-angle camera.
+            /// </summary>
+            TANGO_CAMERA_FISHEYE,
+
+            /// <summary>
+            /// Depth camera.
+            /// </summary>
+            TANGO_CAMERA_DEPTH,
+
+            /// <summary>
+            /// Maximum camera allowable.
+            /// </summary>
+            TANGO_MAX_CAMERA_ID
         }
 
         /// <summary>
-        /// Enumeration containing events provided by the
-        /// Tango Service.
+        /// Tango Event types.
         /// </summary>
         public enum TangoEventType
         {
-            TANGO_EVENT_UNKNOWN = 0,         /**< Unclassified Event Type */
-            TANGO_EVENT_GENERAL,             /**< General callbacks not otherwise categorized */
-            TANGO_EVENT_FISHEYE_CAMERA,       /**< Fisheye Camera Event */
-            TANGO_EVENT_COLOR_CAMERA,         /**< Color Camera Event */
-            TANGO_EVENT_IMU,                  /**< IMU Event */
-            TANGO_EVENT_FEATURE_TRACKING,     /**< Feature Tracking Event */
+            /// <summary>
+            /// Unclassified Event Type.
+            /// </summary>
+            TANGO_EVENT_UNKNOWN = 0,
+
+            /// <summary>
+            /// General callbacks not otherwise categorized.
+            /// </summary>
+            TANGO_EVENT_GENERAL,
+
+            /// <summary>
+            /// Fisheye Camera Event.
+            /// </summary>
+            TANGO_EVENT_FISHEYE_CAMERA,
+
+            /// <summary>
+            /// Color Camera Event.
+            /// </summary>
+            TANGO_EVENT_COLOR_CAMERA,
+
+            /// <summary>
+            /// IMU Event.
+            /// </summary>
+            TANGO_EVENT_IMU,
+
+            /// <summary>
+            /// Feature Tracking Event.
+            /// </summary>
+            TANGO_EVENT_FEATURE_TRACKING,
         }    
 
+        /// <summary>
+        /// Tango runtime configuration enumerations.
+        /// </summary>
         public enum TangoConfigType
         {
-            TANGO_CONFIG_DEFAULT = 0,     /**< Default, motion tracking only. */
-            TANGO_CONFIG_CURRENT,         /**< Current */
-            TANGO_CONFIG_MOTION_TRACKING, /**< Motion tracking */
-            TANGO_CONFIG_AREA_LEARNING,   /**< Area learning */
-            TANGO_MAX_CONFIG_TYPE         /**< Maximum number allowable.  */
+            /// <summary>
+            /// Default, motion tracking only.
+            /// </summary>
+            TANGO_CONFIG_DEFAULT = 0,
+
+            /// <summary>
+            /// Current.
+            /// </summary>
+            TANGO_CONFIG_CURRENT,
+
+            /// <summary>
+            /// Motion tracking.
+            /// </summary>
+            TANGO_CONFIG_MOTION_TRACKING,
+
+            /// <summary>
+            /// Area learning.
+            /// </summary>
+            TANGO_CONFIG_AREA_LEARNING,
+
+            /// <summary>
+            /// Maximum number allowable.
+            /// </summary>
+            TANGO_MAX_CONFIG_TYPE
         }
 
+        /// <summary>
+        /// Tango Camera Calibration types.
+        ///
+        /// See TangoCameraIntrinsics for a detailed description.
+        /// </summary>
         public enum TangoCalibrationType
         {
             TANGO_CALIBRATION_UNKNOWN,
-            /**< f-theta fisheye lens model. See
-               http://scholar.google.com/scholar?cluster=13508836606423559694&hl=en&as_sdt=2005&sciodt=0,5
-             */
+
+            /// <summary>
+            /// An f-theta fisheye lens model.
+            /// See <![CDATA[http://scholar.google.com/scholar?cluster=13508836606423559694&hl=en&as_sdt=2005&sciodt=0,5]]>.
+            /// </summary>
             TANGO_CALIBRATION_EQUIDISTANT,
             TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS,
-            /**< Tsai's k1,k2,k3 Model. See
-               http://scholar.google.com/scholar?cluster=3512800631607394002&hl=en&as_sdt=0,5&sciodt=0,5
-             */
+
+            /// <summary>
+            /// Tsai's k1,k2,k3 Model.
+            /// See <![CDATA[http://scholar.google.com/scholar?cluster=3512800631607394002&hl=en&as_sdt=0,5&sciodt=0,5]]>.
+            /// </summary>
             TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS,
             TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS,
-
         }
-        
-        /// Tango Image Formats
+
+        /// <summary>
+        /// Tango Image Formats.
         /// Equivalent to those found in Android core/system/include/system/graphics.h.
+        /// </summary>
         public enum TangoImageFormatType
         {
-            TANGO_HAL_PIXEL_FORMAT_YV12 = 0x32315659  // YCrCb 4:2:0 Planar
+            /// <summary>
+            /// YCrCb 4:2:0 Planar.
+            /// </summary>
+            TANGO_HAL_PIXEL_FORMAT_YV12 = 0x32315659  
         }
     }
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs
index e7b63ac8..a3c1aad0 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Common/TangoTypes.cs
@@ -1,100 +1,205 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoTypes.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
+using System.Collections.Generic;
 using System.Runtime.InteropServices;
 using UnityEngine;
 
+[module: System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1649:FileHeaderFileNameDocumentationMustMatchTypeName",
+                                                         Justification = "Types file.")]
+
 namespace Tango
 {
     /// <summary>
-    /// Represents the ordered point cloud data.
+    /// The TangoXYZij struct contains information returned from the depth sensor.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class TangoXYZij
     {
+        /// <summary>
+        /// An integer denoting the version of the structure.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int version;
-        
+
+        /// <summary>
+        /// Time of capture of the depth data for this struct (in seconds).
+        /// </summary>
         [MarshalAs(UnmanagedType.R8)]
         public double timestamp;
-        
+
+        /// <summary>
+        /// The number of points in the xyz array.
+        ///
+        /// This is variable with result and is returned in (x,y,z) triplets populated (e.g. 2 points populated
+        /// returned means 6 floats, or 6*4 bytes used).
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int xyz_count;
-        
+
+        /// <summary>
+        /// An array of packed coordinate triplets, x,y,z as floating point values.
+        /// 
+        /// With the unit in landscape orientation, screen facing the user: +Z points in the direction of the
+        /// camera's optical axis, and is measured perpendicular to the plane of the camera. +X points toward the
+        /// user's right, and +Y points toward the bottom of the screen. The origin is the focal centre of the color
+        /// camera. The output is in units of metres.
+        /// </summary>
         [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.SysUInt)]
         public IntPtr[] xyz;
-        
+
+        /// <summary>
+        /// The dimensions of the ij index buffer.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int ij_rows;
-        
+
+        /// <summary>
+        /// The dimensions of the ij index buffer.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int ij_cols;
-        
+
+        /// <summary>
+        /// A 2D buffer, of size ij_rows x ij_cols in raster ordering that contains the index of a point in the xyz
+        /// array that was generated at this "ij" location.
+        /// 
+        /// A value of -1 denotes there was no corresponding point generated at that position. This buffer can be used
+        /// to find neighbouring points in the point cloud.
+        /// 
+        /// For more information, see our developer overview on depth perception .
+        /// </summary>
         public IntPtr ij;
 
-        // Reserved for future use.
+        /// <summary>
+        /// TangoImageBuffer is reserved for future use.
+        /// </summary>
         public IntPtr color_image;
         
         /// <summary>
         /// Returns a <see cref="System.String"/> that represents the current <see cref="Tango.TangoXYZij"/>.
         /// </summary>
-        /// <returns>A <see cref="System.String"/> that represents the current <see cref="Tango.TangoXYZij"/>.</returns>
+        /// <returns>
+        /// A <see cref="System.String"/> that represents the current <see cref="Tango.TangoXYZij"/>.
+        /// </returns>
         public override string ToString()
         {
-            return ("timestamp : " + timestamp + "\n" +
-                    "xyz_count : " + xyz_count + "\n" + 
-                    "ij_rows : " + ij_rows + "\n" + 
-                    "ij_cols : " + ij_cols);
+            return string.Format("timestamp : {0}\nxyz_count : {1}\nij_rows : {2}\nij_cols : {3}",
+                                 timestamp, xyz_count, ij_rows, ij_cols);
         }
     }
 
     /// <summary>
-    /// Tango event.
+    /// The TangoEvent structure signals important sensor and tracking events.
+    /// 
+    /// Each event comes with a timestamp, a type, and a key-value pair describing
+    /// the event.  The type is an enumeration which generally classifies the event
+    /// type. The key is a text string describing the event.  The description holds
+    /// parameters specific to the event.
+    ///
+    /// Possible descriptions (as "key:value") are:
+    /// - "TangoServiceException:X" - The service has encountered an exception, and
+    /// a text description is given in X.
+    /// - "FisheyeOverExposed:X" - the fisheye image is over exposed with average
+    /// pixel value X px.
+    /// - "FisheyeUnderExposed:X" - the fisheye image is under exposed with average
+    /// pixel value X px.
+    /// - "ColorOverExposed:X" - the color image is over exposed with average pixel
+    /// value X px.
+    /// - "ColorUnderExposed:X" - the color image is under exposed with average
+    /// pixel value X px.
+    /// - "TooFewFeaturesTracked:X" - too few features were tracked in the fisheye
+    /// image.  The number of features tracked is X.
+    /// - "Unknown".
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class TangoEvent
     {
+        /// <summary>
+        /// Timestamp, in seconds, of the event.
+        /// </summary>
         [MarshalAs(UnmanagedType.R8)]
         public double timestamp;
-        
+
+        /// <summary>
+        /// Type of event.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public TangoEnums.TangoEventType type;
-        
+
+        /// <summary>
+        /// Description of the event key.
+        /// </summary>
         [MarshalAs(UnmanagedType.LPStr)]
         public string event_key;
 
+        /// <summary>
+        /// Description of the event value.
+        /// </summary>
         [MarshalAs(UnmanagedType.LPStr)]
         public string event_value;
     }
 
     /// <summary>
-    /// Tango coordinate frame pair.
+    /// The TangoCoordinateFramePair struct contains a pair of coordinate frames of reference.
+    ///
+    /// Tango pose data is calculated as a transformation between two frames
+    /// of reference (so, for example, you can be asking for the pose of the
+    /// device within a learned area).
+    ///
+    /// This struct is used to specify the desired base and target frames of
+    /// reference when requesting pose data.  You can also use it when you have
+    /// a TangoPoseData structure returned from the API and want to examine which
+    /// frames of reference were used to get that pose.
+    ///
+    /// For more information, including which coordinate frame pairs are valid,
+    /// see our page on
+    /// <a href ="/project-tango/overview/frames-of-reference">frames of reference</a>.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public struct TangoCoordinateFramePair
     {
+        /// <summary>
+        /// Base frame of reference to compare against when requesting pose data.
+        /// For example, if you have loaded an area and want to find out where the
+        /// device is within it, you would use the
+        /// <code>TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION</code> frame of reference
+        /// as your base.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public TangoEnums.TangoCoordinateFrameType baseFrame;
-        
+
+        /// <summary>
+        /// Target frame of reference when requesting pose data, compared to the
+        /// base. For example, if you want the device's pose data, use
+        /// <code>TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE</code>.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public TangoEnums.TangoCoordinateFrameType targetFrame;
     }
 
     /// <summary>
-    /// Tango image buffer.
+    /// The TangoImageBuffer contains information about a byte buffer holding image data.
+    /// 
+    /// This data is populated by the service when it returns an image.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class TangoImageBuffer
@@ -136,34 +241,46 @@ public class TangoImageBuffer
         public TangoEnums.TangoImageFormatType format;
 
         /// <summary>
-        /// Pixels in HAL_PIXEL_FORMAT_YV12 format. Y samples of width x height are
-        /// first, followed by V samples, with half the stride and half the lines of
-        /// the Y data, followed by a U samples with the same dimensions as the V
-        /// sample. This is stored in the API as a dynamic byte array (uint8_t*).
+        /// Pixels in the format of this image buffer.
         /// </summary>
         public IntPtr data;
     }
 
     /// <summary>
     /// The TangoCameraIntrinsics struct contains intrinsic parameters for a camera.
-    /// For image coordinates, the obervations, [u, v]^T in pixels.
-    /// Normalized image plane coordinates refer to:
     ///
-    /// x = (u - cx) / fx
+    /// Given a 3D point (X, Y, Z) in camera coordinates, the corresponding
+    /// pixel coordinates (x, y) are:
     ///
-    /// y = (v - cy) / fy
+    /// <code>
+    /// x = X / Z * fx * rd / ru + cx
+    /// y = X / Z * fy * rd / ru + cy
+    /// </code>
     ///
-    /// Distortion model type is as given by calibration_type.  For example, for the
-    /// color camera, TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS means that the
-    /// distortion parameters are in distortion[] as {k1, k2 ,k3} where
+    /// The normalized radial distance ru is given by:
     ///
-    /// x_corr_px = x_px (1 + k1 * r2 + k2 * r4 + k3 * r6)
-    /// y_corr_px = y_px (1 + k1 * r2 + k2 * r4 + k3 * r6)
+    /// <code>
+    /// ru = sqrt((X^2 + Y^2) / (Z^2))
+    /// </code>
     ///
-    /// where r2, r4, r6 are the 2nd, 4th, and 6th powers of the r, where r is the
-    /// distance (normalized image plane coordinates) of (x,y) to (cx,cy), and
-    /// for a pixel at point (x_px, y_px) in pixel coordinates, the corrected output
-    /// position would be (x_corr, y_corr).
+    /// The distorted radial distance rd depends on the distortion model used.
+    ///
+    /// For <code>TangoCalibrationType.TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS</code>, rd is a
+    /// polynomial that depends on the 3 distortion coefficients k1, k2 and k3:
+    ///
+    /// <code>
+    /// rd = ru + k1 * ru^3 + k2 * ru^5 + k3 * ru^7
+    /// </code>
+    ///
+    /// For <code>TangoCalibrationType.TANGO_CALIBRATION_EQUIDISTANT</code>, rd depends on the single
+    /// distortion coefficient w:
+    ///
+    /// <code>
+    /// rd = 1 / w * arctan(2 * ru * tan(w / 2))
+    /// </code>
+    ///
+    /// For more information, see our page on
+    /// <a href ="/project-tango/overview/intrinsics-extrinsics">Camera Intrinsics and Extrinsics</a>.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class TangoCameraIntrinsics
@@ -175,7 +292,8 @@ public class TangoCameraIntrinsics
         public TangoEnums.TangoCameraId camera_id;
 
         /// <summary>
-        /// Calibration model type that they distorion parameters reference.
+        /// The type of distortion model used. This determines the meaning of the
+        /// distortion coefficients.
         /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public TangoEnums.TangoCalibrationType calibration_type;
@@ -218,34 +336,72 @@ public class TangoCameraIntrinsics
     }
     
     /// <summary>
-    /// Data representing a pose from the Tango Service.
+    /// The TangoPoseData struct contains 6DOF pose information.
+    /// 
+    /// The device pose is given using Android conventions.  See the Android
+    /// <a href ="http://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords">Sensor
+    /// Overview</a> page for more information.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class TangoPoseData
     {
+        /// <summary>
+        /// An integer denoting the version of the structure.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int version;
-        
+
+        /// <summary>
+        /// Timestamp of the time that this pose estimate corresponds to.
+        /// </summary>
         [MarshalAs(UnmanagedType.R8)]
         public double timestamp;
-        
+
+        /// <summary>
+        /// Orientation, as a quaternion, of the pose of the target frame
+        /// with reference to the base frame.
+        /// Specified as (x,y,z,w) where RotationAngle is in radians:
+        /// <code>
+        ///   x = RotationAxis.x * sin(RotationAngle / 2)
+        ///   y = RotationAxis.y * sin(RotationAngle / 2)
+        ///   z = RotationAxis.z * sin(RotationAngle / 2)
+        ///   w = cos(RotationAngle / 2)
+        /// </code>
+        /// </summary>
         [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 4, ArraySubType = UnmanagedType.R8)]
         public double[] orientation;
-        
+
+        /// <summary>
+        /// Translation, ordered x, y, z, of the pose of the target frame
+        /// with reference to the base frame.
+        /// </summary>
         [MarshalAsAttribute(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.R8)]
         public double[] translation;
-        
+
+        /// <summary>
+        /// The status of the pose, according to the pose lifecycle.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public TangoEnums.TangoPoseStatusType status_code;
-        
+
+        /// <summary>
+        /// The pair of coordinate frames for this pose.
+        /// 
+        /// We retrieve a pose for a target coordinate frame (such as the Tango device) against a base
+        /// coordinate frame (such as a learned area).
+        /// </summary>
         [MarshalAs(UnmanagedType.Struct)]
         public TangoCoordinateFramePair framePair;
-        
-        // Unused.  Integer levels are determined by service.
+
+        /// <summary>
+        /// Unused.  Integer levels are determined by service.
+        /// </summary>
         [MarshalAs(UnmanagedType.I4)]
         public int confidence;
 
-        // Unused.  Reserved for metric accuracy.
+        /// <summary>
+        /// Unused.  Reserved for metric accuracy.
+        /// </summary>
         [MarshalAs(UnmanagedType.R4)]
         public float accuracy;
         
@@ -265,7 +421,7 @@ public TangoPoseData()
         }
 
         /// <summary>
-        /// Performs a deep copy of pose data.
+        /// Deep copy from poseToCopy into this.
         /// </summary>
         /// <param name="poseToCopy">Pose to copy.</param>
         public void DeepCopy(TangoPoseData poseToCopy)
@@ -276,11 +432,11 @@ public void DeepCopy(TangoPoseData poseToCopy)
             this.framePair.baseFrame = poseToCopy.framePair.baseFrame;
             this.framePair.targetFrame = poseToCopy.framePair.targetFrame;
             this.confidence = poseToCopy.confidence;
-            for(int i = 0; i < 4; ++i)
+            for (int i = 0; i < 4; ++i)
             {
                 this.orientation[i] = poseToCopy.orientation[i];
             }
-            for(int i = 0; i < 3; ++i)
+            for (int i = 0; i < 3; ++i)
             {
                 this.translation[i] = poseToCopy.translation[i];
             }
@@ -288,14 +444,19 @@ public void DeepCopy(TangoPoseData poseToCopy)
     }
 
     /// <summary>
-    /// Used in the Unity SDK to hold information about the UUID
-    /// to avoid too many conversions when needing to access the information.
+    /// Unity-side representation of a area description ID and its associated metadata.
+    /// 
+    /// Used to avoid too many conversions when needing to access the information.
     /// </summary>
     public class UUIDUnityHolder
     {
+        /// <summary>
+        /// The Metadata for this area description ID.
+        /// </summary>
+        public Metadata uuidMetaData;
+
         private UUID uuidObject;
         private string uuidName;
-        public Metadata uuidMetaData;
 
         /// <summary>
         /// Initializes a new instance of the <see cref="Tango.UUIDUnityHolder"/> class.
@@ -314,7 +475,6 @@ public UUIDUnityHolder()
         /// </summary>
         public void PrepareUUIDMetaData()
         {
-           
             uuidMetaData.PopulateMetaDataKeyValues();
         }
 
@@ -334,7 +494,7 @@ public void AllocateDataBuffer()
         /// <param name="uuidData">The data marshalled by the UUID list object for this UUID object.</param>
         public void SetDataUUID(byte[] uuidData)
         {
-            if(uuidObject.data == IntPtr.Zero)
+            if (uuidObject.data == IntPtr.Zero)
             {
                 AllocateDataBuffer();
             }
@@ -346,7 +506,7 @@ public void SetDataUUID(byte[] uuidData)
         /// Copies the data contained by <c>uuidData</c> into our UUID object
         /// data IntPtr.
         /// </summary>
-        /// <param name="uuidData">The UTF-8 encoded string for this UUID object.</param>
+        /// <param name="uuidString">The UTF-8 encoded string for this UUID object.</param>
         public void SetDataUUID(string uuidString)
         {
             uuidName = uuidString;
@@ -381,7 +541,9 @@ public bool IsObjectValid()
     }
 
     /// <summary>
-    /// Unique Identifier for an Area Description File.
+    /// The unique id associated with a single area description.
+    /// 
+    /// Should be 36 characters including dashes and a null terminating character.
     /// </summary>
     [StructLayout(LayoutKind.Sequential)]
     public class UUID
@@ -395,15 +557,16 @@ public class UUID
     /// </summary>
     public class UUID_list
     {
-        private UUIDUnityHolder[] UUIDs;
+        private UUIDUnityHolder[] uuids;
         private int count;
 
         /// <summary>
         /// Count of all Area Description Files (Read only).
         /// </summary>
+        /// <value>The count.</value>
         public int Count
         {
-            get {return count;}
+            get { return count; }
         }
         
         /// <summary>
@@ -411,7 +574,7 @@ public int Count
         /// </summary>
         public UUID_list()
         {
-            UUIDs = null;
+            uuids = null;
         }
         
         /// <summary>
@@ -422,32 +585,33 @@ public void PopulateUUIDList(string uuidNames)
         {
             System.Text.UTF8Encoding encoder = new System.Text.UTF8Encoding();
             string[] splitNames = uuidNames.Split(',');
-            UUIDs = new UUIDUnityHolder[splitNames.Length];
+            uuids = new UUIDUnityHolder[splitNames.Length];
             count = splitNames.Length;
-            for(int i = 0; i < count; ++i)
+            for (int i = 0; i < count; ++i)
             {
-                if(UUIDs[i] == null)
+                if (uuids[i] == null)
                 {
-                    UUIDs[i] = new Tango.UUIDUnityHolder();
+                    uuids[i] = new Tango.UUIDUnityHolder();
                 }
-                //Following three calls should be done in the same order always.
-                UUIDs[i].SetDataUUID(System.Text.Encoding.UTF8.GetString(encoder.GetBytes(splitNames[i])));
-                PoseProvider.GetAreaDescriptionMetaData(UUIDs[i]);
-                UUIDs[i].PrepareUUIDMetaData();
+
+                // Following three calls should be done in the same order always.
+                uuids[i].SetDataUUID(System.Text.Encoding.UTF8.GetString(encoder.GetBytes(splitNames[i])));
+                PoseProvider.GetAreaDescriptionMetaData(uuids[i]);
+                uuids[i].PrepareUUIDMetaData();
             }
         }
         
         /// <summary>
-        /// Returns the latest ADF UUID found in the list
+        /// Returns the latest ADF UUID found in the list.
         /// </summary>
         /// <returns>UUIDUnityHolder object that contains the last ADF saved.</returns>
         public UUIDUnityHolder GetLatestADFUUID()
         {
-            if(UUIDs == null || (UUIDs != null && count <= 0))
+            if (uuids == null || (uuids != null && count <= 0))
             {
                 return null;
             }
-            return UUIDs[count - 1];
+            return uuids[count - 1];
         }
 
         /// <summary>
@@ -457,11 +621,11 @@ public UUIDUnityHolder GetLatestADFUUID()
         /// <param name="index">Index.</param>
         public UUIDUnityHolder GetADFAtIndex(int index)
         {
-            if(UUIDs == null || (index < 0 || index >= count))
+            if (uuids == null || (index < 0 || index >= count))
             {
                 return null;
             }
-            return UUIDs[index];
+            return uuids[index];
         }
 
         /// <summary>
@@ -471,11 +635,11 @@ public UUIDUnityHolder GetADFAtIndex(int index)
         /// <param name="index">Index.</param>
         public string GetUUIDAsString(int index)
         {
-            if(UUIDs == null || (index < 0 || index >= count))
+            if (uuids == null || (index < 0 || index >= count))
             {
                 return null;
             }
-            return UUIDs[index].GetStringDataUUID();
+            return uuids[index].GetStringDataUUID();
         }
 
         /// <summary>
@@ -489,20 +653,19 @@ public bool HasEntries()
     }
     
     /// <summary>
-    /// Metadata_entry.
+    /// UUID Metadata list.
     /// </summary>
-    [StructLayout(LayoutKind.Sequential)]
     public class Metadata
     {
-        private System.Collections.Generic.Dictionary<string,string> m_KeyValuePairs = new System.Collections.Generic.Dictionary<string, string>();
         public IntPtr meta_data_pointer;
+        private Dictionary<string, string> m_keyValuePairs = new Dictionary<string, string>();
        
         /// <summary>
         /// Populates the meta data key values pairs.
         /// </summary>
         public void PopulateMetaDataKeyValues()
         {
-            PoseProvider.PopulateAreaDescriptionMetaDataKeyValues(meta_data_pointer,ref m_KeyValuePairs);
+            PoseProvider.PopulateAreaDescriptionMetaDataKeyValues(meta_data_pointer, ref m_keyValuePairs);
         }
 
         /// <summary>
@@ -510,13 +673,15 @@ public void PopulateMetaDataKeyValues()
         /// PopulateMetaDataKeyValues() should be called before calling this.
         /// </summary>
         /// <returns>The meta data key values.</returns>
-        public System.Collections.Generic.Dictionary<string,string> GetMetaDataKeyValues()
+        public Dictionary<string, string> GetMetaDataKeyValues()
         {
-            return m_KeyValuePairs;
+            return m_keyValuePairs;
         }
-
     }
 
+    /// <summary>
+    /// The TangoUnityImageData contains information about a byte buffer holding image data.
+    /// </summary>
     public class TangoUnityImageData
     {
         /// <summary>
@@ -545,39 +710,28 @@ public class TangoUnityImageData
         public Int64 frame_number;
         
         /// <summary>
-        /// The pixel format of the data.
+        /// Pixel format of the data.
         /// </summary>
         public TangoEnums.TangoImageFormatType format;
         
         /// <summary>
-        /// Pixels in HAL_PIXEL_FORMAT_YV12 format. Y samples of width x height are
-        /// first, followed by V samples, with half the stride and half the lines of
-        /// the Y data, followed by a U samples with the same dimensions as the V
-        /// sample. This is stored in the API as a dynamic byte array (uint8_t*).
+        /// Pixels in the format of this image buffer.
         /// </summary>
         public byte[] data;
     }
-  
+
     /// <summary>
-    /// Tango depth that is more Unity friendly.
+    /// Like TangoXYZij, but more Unity friendly.
     /// </summary>
     public class TangoUnityDepth
     {
-        public int m_version;
-        public int m_pointCount;
-        public float[] m_points;
-        public double m_timestamp;
-        public int m_ijRows;
-        public int m_ijColumns;
-        public int[] m_ij;
-
         /// <summary>
         /// Max point array size is currently defined by the largest single mesh
         /// supported by Unity. This array is multiplied by 3 to account for the
         /// x/y/z components.
         /// </summary>
         public static readonly int MAX_POINTS_ARRAY_SIZE = Common.UNITY_MAX_SUPPORTED_VERTS_PER_MESH * 3;
-
+        
         /// <summary>
         /// Max IJ array size is currently defined by the largest single mesh
         /// supported by Unity. This number is multiplied by 2 to account for the
@@ -585,6 +739,56 @@ public class TangoUnityDepth
         /// </summary>
         public static readonly int MAX_IJ_ARRAY_SIZE = Common.UNITY_MAX_SUPPORTED_VERTS_PER_MESH * 2;
 
+        /// <summary>
+        /// 
+        /// An integer denoting the version of the structure.
+        /// </summary>
+        public int m_version;
+
+        /// <summary>
+        /// The number of points in the m_points array.
+        /// 
+        /// Because the points array always contains 3D points, this is m_points.Count / 3.
+        /// </summary>
+        public int m_pointCount;
+
+        /// <summary>
+        /// An array of packed coordinate triplets, x,y,z as floating point values.
+        /// </summary>
+        public float[] m_points;
+
+        /// <summary>
+        /// Time of capture of the depth data for this struct (in seconds).
+        /// </summary>
+        public double m_timestamp;
+
+        /// <summary>
+        /// The dimensions of the ij index buffer.
+        /// </summary>
+        public int m_ijRows;
+
+        /// <summary>
+        /// The dimensions of the ij index buffer.
+        /// </summary>
+        public int m_ijColumns;
+
+        /// <summary>
+        /// A 2D buffer, of size ij_rows x ij_cols in raster ordering that contains
+        /// the index of a point in the xyz array that was generated at this "ij"
+        /// location.
+        /// 
+        /// A value of -1 denotes there was no corresponding point generated at that position. This buffer can be used
+        /// to find neighbouring points in the point cloud.
+        /// 
+        /// For more information, see our
+        /// <a href ="/project-tango/overview/depth-perception#xyzij">developer
+        /// overview on depth perception</a>.
+        /// </summary>
+        public int[] m_ij;
+
+        /// <summary>
+        /// Initializes an empty instance of the <see cref="Tango.TangoUnityDepth"/> class, with no points.
+        /// </summary>
         public TangoUnityDepth()
         {
             m_points = new float[MAX_POINTS_ARRAY_SIZE];
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces.meta b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces.meta
index b67addc5..9e25d3ba 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: f5d37fb7ce64947f28ab06d0dbf90ce4
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs
index 61695067..b23c25b7 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/IExperimentalTangoVideoOverlay.cs
@@ -1,25 +1,35 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="IExperimentalTangoVideoOverlay.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
 /// <summary>
-/// Interface for experimental Tango video overlay event handler.
+/// Experimental API only, subject to change.  Tango video overlay interface.
 /// </summary>
 public interface IExperimentalTangoVideoOverlay
 {
+    /// <summary>
+    /// This will be called when a new frame is available from the camera.
+    /// 
+    /// The first scan-line of the color image is reserved for metadata instead of image pixels.
+    /// </summary>
+    /// <param name="cameraId">Camera identifier.</param>
     void OnExperimentalTangoImageAvailable(Tango.TangoEnums.TangoCameraId cameraId);
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs
index 1d99a6f0..b6813eb4 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoDepth.cs
@@ -1,25 +1,35 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="ITangoDepth.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
 /// <summary>
-/// Interface for Tango depth event handler.
+/// Tango depth interface.
 /// </summary>
 public interface ITangoDepth
 {
-	void OnTangoDepthAvailable(Tango.TangoUnityDepth tangoDepth);
+    /// <summary>
+    /// This is called each time new depth data is available.
+    /// 
+    /// On the Tango tablet, the depth callback occurs at 5 Hz.
+    /// </summary>
+    /// <param name="tangoDepth">Tango depth.</param>
+    void OnTangoDepthAvailable(Tango.TangoUnityDepth tangoDepth);
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoEvent.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoEvent.cs
index eb2dad3e..d3619678 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoEvent.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoEvent.cs
@@ -1,25 +1,33 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-using UnityEngine;
+//-----------------------------------------------------------------------
+// <copyright file="ITangoEvent.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
+using UnityEngine;
 
 /// <summary>
-/// Interface for Tango Events
+/// Event notification interface.
 /// </summary>
 public interface ITangoEvent
 {
+    /// <summary>
+    /// This is called each time a Tango event happens.
+    /// </summary>
+    /// <param name="tangoEvent">Tango event.</param>
     void OnTangoEventAvailableEventHandler(Tango.TangoEvent tangoEvent);
 }
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs
index e0370544..06a8169d 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoPose.cs
@@ -1,25 +1,36 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="ITangoPose.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
 /// <summary>
-/// Interface for Tango pose event handler.
+/// Pose interface.
 /// </summary>
 public interface ITangoPose
 {
-	void OnTangoPoseAvailable(Tango.TangoPoseData poseData);
+    /// <summary>
+    /// This is called as new pose updates become available.
+    /// 
+    /// This will be called for START_OF_SERVICE to DEVICE, AREA_DESCRIPTION to DEVICE, and START_OF_SERVICE to
+    /// AREA_DESCRIPTION, based on which flags have been set on the TangoApplication.
+    /// </summary>
+    /// <param name="poseData">Pose data.</param>
+    void OnTangoPoseAvailable(Tango.TangoPoseData poseData);
 }
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs
index f208a9f9..06b7270f 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Interfaces/ITangoVideoOverlay.cs
@@ -1,26 +1,37 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="ITangoVideoOverlay.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEngine;
 
 /// <summary>
-/// Interface for Tango video overlay event handler.
+/// Tango video overlay interface.
 /// </summary>
 public interface ITangoVideoOverlay
 {
+    /// <summary>
+    /// This will be called when a new frame is available from the camera.
+    /// 
+    /// The first scan-line of the color image is reserved for metadata instead of image pixels.
+    /// </summary>
+    /// <param name="cameraId">Camera identifier.</param>
+    /// <param name="imageBuffer">Image buffer.</param>
     void OnTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId, 
                                            Tango.TangoUnityImageData imageBuffer);
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners.meta b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners.meta
index 7adfc8ed..582cccc2 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: f2e1e806634414f10ad59d9b84c3130c
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs
index 7e8e035e..bedbebd3 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/DepthListener.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="DepthListener.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Runtime.InteropServices;
 using UnityEngine;
@@ -20,24 +24,23 @@
 namespace Tango
 {
     /// <summary>
-    /// On tango depth available event handler.
+    /// Delegate for Tango depth events.
     /// </summary>
     /// <param name="tangoDepth">TangoUnityDepth object for the available depth frame.</param>
-    public delegate void OnTangoDepthAvailableEventHandler(TangoUnityDepth tangoDepth);
+    internal delegate void OnTangoDepthAvailableEventHandler(TangoUnityDepth tangoDepth);
 
     /// <summary>
-    /// Abstract base class that can be used to
-    /// automatically register for onDepthAvailable
-    /// callbacks from the Tango Service.
+    /// Marshals Tango depth data between the C callbacks in one thread and
+    /// the main Unity thread.
     /// </summary>
-    public class DepthListener
+    internal class DepthListener
     {
         private Tango.DepthProvider.TangoService_onDepthAvailable m_onDepthAvailableCallback;
 
         /// <summary>
         /// Occurs when m_on tango depth available.
         /// </summary>
-        private event OnTangoDepthAvailableEventHandler m_OnTangoDepthAvailable;
+        private event OnTangoDepthAvailableEventHandler OnTangoDepthAvailable;
 
         private bool m_isDirty = false;
         private TangoUnityDepth m_tangoDepth;
@@ -45,56 +48,59 @@ public class DepthListener
         private float[] m_depthPoints;
 
         /// <summary>
-        /// Register this class to receive the OnDepthAvailable callback.
+        /// Register to get Tango depth callbacks.
+        /// 
+        /// NOTE: Tango depth callbacks happen on a different thread than the main
+        /// Unity thread.
         /// </summary>
-        public virtual void SetCallback()
+        internal virtual void SetCallback()
         {
             m_tangoDepth = new TangoUnityDepth();
             m_onDepthAvailableCallback = new Tango.DepthProvider.TangoService_onDepthAvailable(_OnDepthAvailable);
-    		Tango.DepthProvider.SetCallback(m_onDepthAvailableCallback);
+            Tango.DepthProvider.SetCallback(m_onDepthAvailableCallback);
         }
 
         /// <summary>
-        /// Sends the depth if available.
+        /// Raise a Tango depth event if there is new data.
         /// </summary>
-        public void SendDepthIfAvailable()
+        internal void SendDepthIfAvailable()
         {
-            if (m_isDirty && m_OnTangoDepthAvailable != null)
+            if (m_isDirty && OnTangoDepthAvailable != null)
             {
                 lock (m_lockObject)
                 {
-                    m_OnTangoDepthAvailable(m_tangoDepth);
+                    OnTangoDepthAvailable(m_tangoDepth);
                 }
                 m_isDirty = false;
             }
         }
 
         /// <summary>
-        /// Registers the on tango depth available.
+        /// Register a Unity main thread handler for the Tango depth event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler)
+        /// <param name="handler">Event handler to register.</param>
+        internal void RegisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler)
         {
             if (handler != null)
             {
-                m_OnTangoDepthAvailable += handler;
+                OnTangoDepthAvailable += handler;
             }
         }
 
         /// <summary>
-        /// Unregisters the on tango depth available.
+        /// Unregisters a Unity main thread handler for the Tango depth event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler)
+        /// <param name="handler">Event handler to unregister.</param>
+        internal void UnregisterOnTangoDepthAvailable(OnTangoDepthAvailableEventHandler handler)
         {
             if (handler != null)
             {
-                m_OnTangoDepthAvailable -= handler;
+                OnTangoDepthAvailable -= handler;
             }
         }
 
         /// <summary>
-        /// Callback that gets called when depth is available
+        /// DEPRECATED: Callback that gets called when depth is available
         /// from the Tango Service.
         /// </summary>
         /// <param name="callbackContext">Callback context.</param>
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs
index eb6a093d..4f79d849 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/PoseListener.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="PoseListener.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Collections.Generic;
 using UnityEngine;
@@ -20,49 +24,32 @@
 namespace Tango
 {
     /// <summary>
-    /// On tango pose available event handler.
+    /// Delegate for Tango pose events.
     /// </summary>
-    public delegate void OnTangoPoseAvailableEventHandler(TangoPoseData poseData);
+    /// <param name="poseData">The pose data from Tango.</param>
+    internal delegate void OnTangoPoseAvailableEventHandler(TangoPoseData poseData);
 
     /// <summary>
-    /// Abstract base class that can be used to
-    /// automatically register for onPoseAvailable
-    /// callbacks from the Tango Service.
+    /// Marshals Tango pose data between the C callbacks in one thread and the main Unity thread.
     /// </summary>
     public class PoseListener
     {
-        public Tango.PoseProvider.TangoService_onPoseAvailable m_poseAvailableCallback;
+        /// <summary>
+        /// DEPRECATED: The pose available callback.
+        /// </summary>
+        internal Tango.PoseProvider.TangoService_onPoseAvailable m_poseAvailableCallback;
 
         private const int SIZE_OF_POSE_DATA_POOL = 3;
-        private TangoPoseData m_motionTrackingData;
-        private TangoPoseData m_areaLearningData;
-        private TangoPoseData m_relocalizationData;
+        private TangoPoseData m_motionTrackingData = null;
+        private TangoPoseData m_areaLearningData = null;
+        private TangoPoseData m_relocalizationData = null;
         private OnTangoPoseAvailableEventHandler m_onTangoPoseAvailable;
         private Stack<TangoPoseData> m_poseDataPool;
         private bool m_isDirty = false;
+        private object m_lockObject = new object();
 
         /// <summary>
-        /// Initializes a new instance of the <see cref="Tango.PoseListener"/> class.
-        /// </summary>
-        public PoseListener()
-        {
-            m_motionTrackingData = null;
-            m_areaLearningData = null;
-            m_relocalizationData = null;
-            m_poseDataPool = new Stack<TangoPoseData>();
-
-            // Add pre-allocated TangoPoseData objects to the
-            // pool stack.
-            for(int i = 0; i < SIZE_OF_POSE_DATA_POOL; ++i)
-            {
-                TangoPoseData emptyPose = new TangoPoseData();
-                m_poseDataPool.Push(emptyPose);
-            }
-        }
-
-        /// <summary>
-        /// Gets or sets a value indicating whether this <see cref="PoseListener"/>
-        /// is using auto reset.
+        /// DEPRECATED: Gets or sets a value indicating whether this <see cref="PoseListener"/> is using auto reset.
         /// </summary>
         /// <value><c>true</c> if auto reset; otherwise, <c>false</c>.</value>
         public bool AutoReset
@@ -72,7 +59,7 @@ public bool AutoReset
         }
 
         /// <summary>
-        /// Gets or sets a value indicating whether this <see cref="PoseListener"/> use camera intrinsics.
+        /// DEPRECATED: Gets or sets a value indicating whether this <see cref="PoseListener"/> use camera intrinsics.
         /// </summary>
         /// <value><c>true</c> if use camera intrinsics; otherwise, <c>false</c>.</value>
         public bool UseCameraIntrinsics
@@ -82,143 +69,210 @@ public bool UseCameraIntrinsics
         }
 
         /// <summary>
-        /// Sends the pose if available.
+        /// Initializes a new instance of the <see cref="Tango.PoseListener"/> class.
         /// </summary>
-        /// <returns>The pose status if available.</returns>
-        public void SendPoseIfAvailable()
+        internal PoseListener()
         {
-            if(m_isDirty)
-			{
-                if(m_onTangoPoseAvailable != null)
+            m_poseDataPool = new Stack<TangoPoseData>();
+
+            // Add pre-allocated TangoPoseData objects to the
+            // pool stack.
+            for (int i = 0; i < SIZE_OF_POSE_DATA_POOL; ++i)
+            {
+                TangoPoseData emptyPose = new TangoPoseData();
+                m_poseDataPool.Push(emptyPose);
+            }
+        }
+
+        /// <summary>
+        /// Raise a Tango pose event if there is new data.
+        /// </summary>
+        internal void SendPoseIfAvailable()
+        {
+#if UNITY_EDITOR
+            if (TangoApplication.m_mouseEmulationViaPoseUpdates)
+            {
+                PoseProvider.UpdateTangoEmulation();
+                lock (m_lockObject)
                 {
-                    if(m_motionTrackingData != null)
+                    if (m_onTangoPoseAvailable != null)
                     {
-                        m_onTangoPoseAvailable(m_motionTrackingData);
-                        m_poseDataPool.Push(m_motionTrackingData);
-                        m_motionTrackingData = null;
+                        FillEmulatedPoseData(ref m_motionTrackingData, 
+                                             TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE,
+                                             TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE);
+                        FillEmulatedPoseData(ref m_areaLearningData,
+                                             TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION,
+                                             TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE);
+                        m_isDirty = true;
                     }
-                    if(m_areaLearningData != null)
-                    {
-                        m_onTangoPoseAvailable(m_areaLearningData);
-                        m_poseDataPool.Push(m_areaLearningData);
-                        m_areaLearningData = null;
-                    }
-                    if(m_relocalizationData != null)
+                }
+            }
+#endif
+
+            if (m_isDirty)
+            {
+                if (m_onTangoPoseAvailable != null)
+                {
+                    // NOTE: If this becomes a performance issue, this could be changed to use 
+                    // Interlocked.CompareExchange to "consume" the motion tracking data.
+                    lock (m_lockObject)
                     {
-                        m_onTangoPoseAvailable(m_relocalizationData);
-                        m_poseDataPool.Push(m_relocalizationData);
-                        m_relocalizationData = null;
+                        if (m_motionTrackingData != null)
+                        {
+                            m_onTangoPoseAvailable(m_motionTrackingData);
+                            m_poseDataPool.Push(m_motionTrackingData);
+                            m_motionTrackingData = null;
+                        }
+                        if (m_areaLearningData != null)
+                        {
+                            m_onTangoPoseAvailable(m_areaLearningData);
+                            m_poseDataPool.Push(m_areaLearningData);
+                            m_areaLearningData = null;
+                        }
+                        if (m_relocalizationData != null)
+                        {
+                            m_onTangoPoseAvailable(m_relocalizationData);
+                            m_poseDataPool.Push(m_relocalizationData);
+                            m_relocalizationData = null;
+                        }
                     }
                 }
 
-				m_isDirty = false;
+                m_isDirty = false;
             }
         }
 
         /// <summary>
-        /// Registers the callback.
+        /// Register to get Tango pose callbacks for specific reference frames.
+        /// 
+        /// NOTE: Tango pose callbacks happen on a different thread than the main
+        /// Unity thread.
         /// </summary>
-        /// <param name="framePairs">Frame pairs.</param>
-        public void SetCallback(TangoCoordinateFramePair[] framePairs)
+        /// <param name="framePairs">The reference frames to get callbacks for.</param>
+        internal void SetCallback(TangoCoordinateFramePair[] framePairs)
         {
             m_poseAvailableCallback = new Tango.PoseProvider.TangoService_onPoseAvailable(_OnPoseAvailable);
             Tango.PoseProvider.SetCallback(framePairs, m_poseAvailableCallback);
         }
-
+        
         /// <summary>
-        /// Registers for Tango pose available.
+        /// Register a Unity main thread handler for the Tango pose event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler)
+        /// <param name="handler">Event handler to register.</param>
+        internal void RegisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
                 m_onTangoPoseAvailable += handler;
             }
         }
-
+        
         /// <summary>
-        /// Unregisters the tango pose available.
+        /// Unregister a Unity main thread handler for the Tango depth event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler)
+        /// <param name="handler">Event handler to unregister.</param>
+        internal void UnregisterTangoPoseAvailable(OnTangoPoseAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
                 m_onTangoPoseAvailable -= handler;
             }
         }
 
         /// <summary>
-        /// Handle the callback sent by the Tango Service
-        /// when a new pose is sampled.
+        /// Handle the callback sent by the Tango Service when a new pose is sampled.
         /// </summary>
         /// <param name="callbackContext">Callback context.</param>
         /// <param name="pose">Pose.</param>
         private void _OnPoseAvailable(IntPtr callbackContext, TangoPoseData pose)
         {
-            // MotionTracking
             if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
                 pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
             {
-                // Only set new pose once the previous pose has been returned.
-                if(m_motionTrackingData == null)
+                // MotionTracking
+                lock (m_lockObject)
                 {
-                    TangoPoseData currentPose = m_poseDataPool.Pop();
-
-                    if(currentPose == null)
-                    {
-                        return;
-                    }
-                    else
+                    // Only set new pose once the previous pose has been returned.
+                    if (m_motionTrackingData == null)
                     {
+                        TangoPoseData currentPose = m_poseDataPool.Pop();
                         currentPose.DeepCopy(pose);
                         m_motionTrackingData = currentPose;
                     }
                 }
             }
-            // ADF Localized
             else if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&
                      pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
             {
-                // Only set new pose once the previous pose has been returned.
-                if(m_areaLearningData == null)
+                // ADF Localized
+                lock (m_lockObject)
                 {
-                    TangoPoseData currentPose = m_poseDataPool.Pop();
-                    
-                    if(currentPose == null)
-                    {
-                        return;
-                    }
-                    else
+                    // Only set new pose once the previous pose has been returned.
+                    if (m_areaLearningData == null)
                     {
+                        TangoPoseData currentPose = m_poseDataPool.Pop();
                         currentPose.DeepCopy(pose);
                         m_areaLearningData = currentPose;
                     }
                 }
-            } 
-            // Relocalized against ADF
+            }
             else if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&
                      pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE)
             {
-                // Only set new pose once the previous pose has been returned.
-                if(m_relocalizationData == null)
+                // Relocalized against ADF
+                lock (m_lockObject)
                 {
-                    TangoPoseData currentPose = m_poseDataPool.Pop();
-                    
-                    if(currentPose == null)
-                    {
-                        return;
-                    }
-                    else
+                    // Only set new pose once the previous pose has been returned.
+                    if (m_relocalizationData == null)
                     {
+                        TangoPoseData currentPose = m_poseDataPool.Pop();
                         currentPose.DeepCopy(pose);
                         m_relocalizationData = currentPose;
                     }
                 }
             }
 
-			m_isDirty = true;
+            m_isDirty = true;
+        }
+
+#if UNITY_EDITOR
+        /// <summary>
+        /// Fill out <c>poseData</c> with emulated values from Tango.
+        /// </summary>
+        /// <param name="poseData">The poseData to fill out.</param>
+        /// <param name="baseFrame">Base frame to set.</param>
+        /// <param name="targetFrame">Target frame to set.</param>
+        private void FillEmulatedPoseData(ref TangoPoseData poseData, TangoEnums.TangoCoordinateFrameType baseFrame,
+                                          TangoEnums.TangoCoordinateFrameType targetFrame)
+        {
+            if (poseData == null)
+            {
+                TangoPoseData currentPose = m_poseDataPool.Pop();
+
+                if (currentPose != null)
+                {
+                    Vector3 position;
+                    Quaternion rotation;
+                    PoseProvider.GetTangoEmulation(out position, out rotation);
+
+                    currentPose.framePair.baseFrame = baseFrame;
+                    currentPose.framePair.targetFrame = targetFrame;
+
+                    currentPose.timestamp = Time.time * 1000; // timestamp is in ms, time is in sec.
+                    currentPose.version = 0; // Not actually used
+                    currentPose.status_code = TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID;
+
+                    currentPose.translation[0] = position.x;
+                    currentPose.translation[1] = position.y;
+                    currentPose.translation[2] = position.z;
+                    currentPose.orientation[0] = rotation.x;
+                    currentPose.orientation[1] = rotation.y;
+                    currentPose.orientation[2] = rotation.z;
+                    currentPose.orientation[3] = rotation.w;
+                    poseData = currentPose;
+                }
+            }
         }
+#endif
     }
-}
\ No newline at end of file
+}
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs
index 6f62da44..873098ca 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/TangoEventListener.cs
@@ -1,31 +1,37 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoEventListener.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using UnityEngine;
 
 namespace Tango
 {
-    public delegate void OnTangoEventAvailableEventHandler(TangoEvent tangoEvent);
+    /// <summary>
+    /// IDelegate for Tango event events.
+    /// </summary>
+    /// <param name="tangoEvent">Tango event that happened.</param>
+    internal delegate void OnTangoEventAvailableEventHandler(TangoEvent tangoEvent);
 
     /// <summary>
-    /// Abstract base class that can be used to
-    /// automatically register for onEventAvailable
-    /// callbacks from the Tango Service.
+    /// Marshals Tango event data between the C callbacks in one thread and the main Unity thread.
     /// </summary>
-    public class TangoEventListener
+    internal class TangoEventListener
     {
         private TangoEvents.TangoService_onEventAvailable m_onEventAvaialableCallback;
         private OnTangoEventAvailableEventHandler m_onTangoEventAvailable;
@@ -33,66 +39,68 @@ public class TangoEventListener
         private bool m_isDirty;
 
         /// <summary>
-        /// Sets the callback.
+        /// Register to get Tango event callbacks.
+        /// 
+        /// NOTE: Tango event callbacks happen on a different thread than the main
+        /// Unity thread.
         /// </summary>
-        public virtual void SetCallback()
+        internal virtual void SetCallback()
         {
-    		m_onEventAvaialableCallback = new TangoEvents.TangoService_onEventAvailable(_onEventAvailable);
-    		TangoEvents.SetCallback(m_onEventAvaialableCallback);
+            m_onEventAvaialableCallback = new TangoEvents.TangoService_onEventAvailable(_onEventAvailable);
+            TangoEvents.SetCallback(m_onEventAvaialableCallback);
             m_previousEvent = new TangoEvent();
             m_isDirty = false;
         }
 
-		/// <summary>
-		/// Sends if tango event available.
-		/// </summary>
-		/// <param name="usingUXLibrary">If set to <c>true</c> using UX library.</param>
-        public void SendIfTangoEventAvailable()
-		{
-			if(m_isDirty)
-			{
-	            if(m_onTangoEventAvailable != null)
-	            {
-	                m_onTangoEventAvailable(m_previousEvent);
-				}
+        /// <summary>
+        /// Raise a Tango event if there is new data.
+        /// </summary>
+        internal void SendIfTangoEventAvailable()
+        {
+            if (m_isDirty)
+            {
+                if (m_onTangoEventAvailable != null)
+                {
+                    m_onTangoEventAvailable(m_previousEvent);
+                }
 
-				m_isDirty = true;
-			}
+                m_isDirty = true;
+            }
         }
 
         /// <summary>
-        /// Registers the on tango event available.
+        /// Register a Unity main thread handler for Tango events.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler)
+        /// <param name="handler">Event handler to register.</param>
+        internal void RegisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
                 m_onTangoEventAvailable += handler;
             }
         }
 
         /// <summary>
-        /// Unregisters the on tango event available.
+        /// Unregister a Unity main thread handler for the Tango depth event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler)
+        /// <param name="handler">Event handler to unregister.</param>
+        internal void UnregisterOnTangoEventAvailable(OnTangoEventAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
                 m_onTangoEventAvailable -= handler;
             }
         }
 
         /// <summary>
-        /// Handle the callback sent by the Tango Service
+        /// DEPRECATED: Handle the callback sent by the Tango Service
         /// when a new event is issued.
         /// </summary>
         /// <param name="callbackContext">Callback context.</param>
         /// <param name="tangoEvent">Tango event.</param>
         protected void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent)
         {
-            if(tangoEvent != null)
+            if (tangoEvent != null)
             {
                 m_previousEvent.timestamp = tangoEvent.timestamp;
                 m_previousEvent.type = tangoEvent.type;
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs
index 5d06c399..5f07a266 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/Listeners/VideoOverlayListener.cs
@@ -1,62 +1,88 @@
-
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-using UnityEngine;
+//-----------------------------------------------------------------------
+// <copyright file="VideoOverlayListener.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using System;
 using System.Runtime.InteropServices;
+using UnityEngine;
 
 namespace Tango
 {
-    public delegate void OnTangoImageAvailableEventHandler(TangoEnums.TangoCameraId cameraId, 
-                                                           TangoUnityImageData imageBuffer);
-    public delegate void OnExperimentalTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId);
+    /// <summary>
+    /// Delegate for Tango image events.
+    /// </summary>
+    /// <param name="cameraId">The camera for the image.</param>
+    /// <param name="imageBuffer">The image from the camera.</param>
+    internal delegate void OnTangoImageAvailableEventHandler(TangoEnums.TangoCameraId cameraId, 
+                                                             TangoUnityImageData imageBuffer);
+
+    /// <summary>
+    /// Experimental API only, subject to change.  Delegate for Tango image events.
+    /// </summary>
+    /// <param name="cameraId">The camera for the image.</param>
+    internal delegate void OnExperimentalTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId);
 
     /// <summary>
-    /// Video overlay listener.
+    /// Marshals Tango image data between the C callbacks in one thread and
+    /// the main Unity thread.
     /// </summary>
-    public class VideoOverlayListener 
+    internal class VideoOverlayListener 
     {
-    	private VideoOverlayProvider.TangoService_onImageAvailable m_onImageAvailable;
+        private VideoOverlayProvider.TangoService_onImageAvailable m_onImageAvailable;
         private VideoOverlayProvider.TangoService_onUnityFrameAvailable m_onUnityFrameAvailable;
 
-        private event OnTangoImageAvailableEventHandler m_onTangoImageAvailable;
-        private event OnExperimentalTangoImageAvailableEventHandler m_onExperimentalTangoImageAvailable;
+        /// <summary>
+        /// Called when a new Tango image is available.
+        /// </summary>
+        private event OnTangoImageAvailableEventHandler OnTangoImageAvailable;
 
-		private TangoEnums.TangoCameraId m_previousCameraId;
-		private TangoUnityImageData m_previousImageBuffer;
-		private bool m_shouldSendEvent = false;
+        /// <summary>
+        /// Called when a new Tange image is available (experimental version).
+        /// </summary>
+        private event OnExperimentalTangoImageAvailableEventHandler OnExperimentalTangoImageAvailable;
+
+        private TangoEnums.TangoCameraId m_previousCameraId;
+        private TangoUnityImageData m_previousImageBuffer;
+        private bool m_shouldSendEvent = false;
         private bool m_usingExperimentalOverlay = false;
 
-    	/// <summary>
-    	/// Sets the callback for image updates.
-    	/// </summary>
-    	/// <param name="cameraId">Camera identifier.</param>
-    	public virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
-    	{
+        /// <summary>
+        /// Register to get Tango image events.
+        /// 
+        /// NOTE: Tango image events happen on a different thread than the main
+        /// Unity thread.
+        /// </summary>
+        /// <param name="cameraId">Camera identifier to get events for.</param>
+        /// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
+        /// <param name="videoOverlayTexture">The video overlay texture to use.  Only used in experimental mode.</param> 
+        internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
+        {
             m_usingExperimentalOverlay = useExperimentalOverlay;
-            if(!useExperimentalOverlay)
+            if (!useExperimentalOverlay)
             {
                 m_previousImageBuffer = new TangoUnityImageData();
-        		m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
-        		Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
+                m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
+                Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
             }
             else
             {
-                if(videoOverlayTexture != null)
+                if (videoOverlayTexture != null)
                 {
                     m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
                     VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
@@ -70,93 +96,93 @@ public virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool us
                     Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
                 }
             }
-    	}
+        }
 
         /// <summary>
-        /// Sends event if video overlay is available.
+        /// Raise a Tango image event if there is new data.
         /// </summary>
-		public void SendIfVideoOverlayAvailable()
-		{
-            if(m_usingExperimentalOverlay)
+        internal void SendIfVideoOverlayAvailable()
+        {
+            if (m_usingExperimentalOverlay)
             {
-                if(m_onExperimentalTangoImageAvailable != null && m_shouldSendEvent)
+                if (OnExperimentalTangoImageAvailable != null && m_shouldSendEvent)
                 {
-                    m_onExperimentalTangoImageAvailable(m_previousCameraId);
+                    OnExperimentalTangoImageAvailable(m_previousCameraId);
                     m_shouldSendEvent = false;
                 }
             }
             else
             {
-    			if(m_onTangoImageAvailable != null && m_shouldSendEvent)
-    			{
-    				m_onTangoImageAvailable(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_previousImageBuffer);
+                if (OnTangoImageAvailable != null && m_shouldSendEvent)
+                {
+                    OnTangoImageAvailable(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_previousImageBuffer);
                     m_shouldSendEvent = false;
-    			}
+                }
             }
-		}
+        }
 
         /// <summary>
-        /// Registers the on tango image available.
+        /// Register a Unity main thread handler for the Tango image event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event handler to register.</param>
+        internal void RegisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
-                m_onTangoImageAvailable += handler;
+                OnTangoImageAvailable += handler;
             }
         }
 
         /// <summary>
-        /// Unregisters the on tango image available.
+        /// Unregister a Unity main thread handler for the Tango image event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event handler to unregister.</param>
+        internal void UnregisterOnTangoImageAvailable(OnTangoImageAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
-                m_onTangoImageAvailable -= handler;
+                OnTangoImageAvailable -= handler;
             }
         }
         
         /// <summary>
-        /// Registers the on tango image available.
+        /// Register a Unity main thread handler for the Tango image event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event handler to register.</param>
+        internal void RegisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
-                m_onExperimentalTangoImageAvailable += handler;
+                OnExperimentalTangoImageAvailable += handler;
             }
         }
         
         /// <summary>
-        /// Unregisters the on tango image available.
+        /// Unregister a Unity main thread handler for the Tango image event.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event handler to unregister.</param>
+        internal void UnregisterOnExperimentalTangoImageAvailable(OnExperimentalTangoImageAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (handler != null)
             {
-                m_onExperimentalTangoImageAvailable -= handler;
+                OnExperimentalTangoImageAvailable -= handler;
             }
         }
-    	
-    	/// <summary>
-    	/// Handle the callback sent by the Tango Service
-    	/// when a new image is sampled.
-    	/// </summary>
-    	/// <param name="cameraId">Camera identifier.</param>
-    	/// <param name="callbackContext">Callback context.</param>
-    	/// <param name="imageBuffer">Image buffer.</param>
-    	protected void _OnImageAvailable(IntPtr callbackContext,
-    	                                 TangoEnums.TangoCameraId cameraId, 
-    	                                 TangoImageBuffer imageBuffer)
+
+        /// <summary>
+        /// DEPRECATED: Handle the callback sent by the Tango Service
+        /// when a new image is sampled.
+        /// </summary>
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="cameraId">Camera identifier.</param>
+        /// <param name="imageBuffer">Image buffer.</param>
+        protected void _OnImageAvailable(IntPtr callbackContext,
+                                         TangoEnums.TangoCameraId cameraId, 
+                                         TangoImageBuffer imageBuffer)
         {
-			m_previousCameraId = cameraId;
+            m_previousCameraId = cameraId;
 
-            if(m_previousImageBuffer.data == null)
+            if (m_previousImageBuffer.data == null)
             {
                 m_previousImageBuffer.data = new byte[imageBuffer.width * imageBuffer.height * 2];
             }
@@ -170,10 +196,15 @@ protected void _OnImageAvailable(IntPtr callbackContext,
 
             Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
 
-			m_shouldSendEvent = true;
+            m_shouldSendEvent = true;
         }
 
-        public void _OnExperimentalUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId)
+        /// <summary>
+        /// DEPRECATED: Handle the callback set by the Tango Service when a new image is available.
+        /// </summary>
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="cameraId">Camera identifier.</param>
+        protected void _OnExperimentalUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId)
         {
             m_previousCameraId = cameraId;
             m_shouldSendEvent = true;
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta
index ab2a508b..ecc99fdb 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: 4fc55f6870f0443b986d0ef797cec697
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs
index 841a7b9f..5dadf42f 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/DepthProvider.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="DepthProvider.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Collections;
 using System.Runtime.InteropServices;
@@ -21,24 +25,28 @@
 namespace Tango
 {
     /// <summary>
-    /// Wraps depth related Tango Service functionality.
+    /// C API wrapper for the Tango depth interface.
     /// </summary>
-    public class DepthProvider
+    internal class DepthProvider
     {
+        /// <summary>
+        /// Tango depth C callback function signature.
+        /// </summary>
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="xyzij">Depth information.</param>
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void TangoService_onDepthAvailable(IntPtr callbackContext, [In,Out] TangoXYZij xyzij);
+        internal delegate void TangoService_onDepthAvailable(IntPtr callbackContext, [In, Out] TangoXYZij xyzij);
 
         /// <summary>
-        /// Sets the callback that is called when new depth
-        /// points have been sampled by the Tango Service.
+        /// Set the C callback for the Tango depth interface.
         /// </summary>
         /// <param name="callback">Callback.</param>
-        public static void SetCallback(TangoService_onDepthAvailable callback)
+        internal static void SetCallback(TangoService_onDepthAvailable callback)
         {
             int returnValue = DepthAPI.TangoService_connectOnXYZijAvailable(callback);
             if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
-				Debug.Log("DepthProvider.SetCallback() Callback was not set!");
+                Debug.Log("DepthProvider.SetCallback() Callback was not set!");
             }
             else
             {
@@ -46,9 +54,9 @@ public static void SetCallback(TangoService_onDepthAvailable callback)
             }
         }
 
-        /// <summary>
-        /// Wraps depth functionality from Tango Service.
-        /// </summary>
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         private struct DepthAPI
         {
 #if UNITY_ANDROID && !UNITY_EDITOR
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs
index b619e33a..39473e36 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/PoseProvider.cs
@@ -1,65 +1,87 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="PoseProvider.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+using System;
 using System.Collections;
+using System.Collections.Generic;
 using System.Runtime.InteropServices;
 using UnityEngine;
-using System;
 
 namespace Tango
 {
     /// <summary>
-    /// Provide pose related functionality.
+    /// C API wrapper for the Tango pose interface.
     /// </summary>
     public class PoseProvider
-    {   
-
+    {
+        /// <summary>
+        /// Tango pose C callback function signature.
+        /// </summary>
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="pose">Pose data.</param> 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void TangoService_onPoseAvailable(IntPtr callbackContext, [In,Out] TangoPoseData pose);
-
-        private static readonly string CLASS_NAME = "PoseProvider";
+        internal delegate void TangoService_onPoseAvailable(IntPtr callbackContext, [In, Out] TangoPoseData pose);
+        
         private const float MOUSE_LOOK_SENSITIVITY = 100.0f;
         private const float TRANSLATION_SPEED = 2.0f;
+        private static readonly string CLASS_NAME = "PoseProvider";
 
         // Keeps track of all the ADFs on the device.
         private static UUID_list m_adfList = new UUID_list();
 
+#if UNITY_EDITOR
         /// <summary>
-        /// Sets the callback to be used when a new Pose is
-        /// presented by the Tango Service.
+        /// The emulated pose position.  Used for Tango emulation on PC.
         /// </summary>
-        /// <param name="callback">Callback.</param>
-        public static void SetCallback(TangoCoordinateFramePair[] framePairs, TangoService_onPoseAvailable callback)
-        {
-            int returnValue =  PoseProviderAPI.TangoService_connectOnPoseAvailable(framePairs.Length, framePairs, callback);
-            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
-            {
-                Debug.Log(CLASS_NAME + ".SetCallback() Callback was not set!");
-            }
-            else
-            {
-                Debug.Log(CLASS_NAME + ".SetCallback() OnPose callback was set!");
-            }
-        }
+        private static Vector3 m_emulatedPosePosition;
+        
+        /// <summary>
+        /// The emulated pose euler angles from forward.  Used for Tango emulation on PC.
+        /// 
+        /// This is not the pure rotation for Tango, when it is Identity, you are facing forward, not down.
+        /// </summary>
+        private static Vector3 m_emulatedPoseAnglesFromForward;
+#endif
 
         /// <summary>
-        /// Gets the pose at a given time.
+        /// Get a pose at a given timestamp from the base to the target frame.
+        /// 
+        /// All poses returned are marked as TANGO_POSE_VALID (in the status_code field on TangoPoseData ) even if
+        /// they were marked as TANGO_POSE_INITIALIZING in the callback poses.
+        /// 
+        /// If no pose can be returned, the status_code of the returned pose will be TANGO_POSE_INVALID.
         /// </summary>
-        /// <param name="poseData">Pose data.</param>
-        /// <param name="timeStamp">Time stamp.</param>
-        public static void GetPoseAtTime([In,Out] TangoPoseData poseData, 
+        /// <param name="poseData">The pose to return.</param>
+        /// <param name="timeStamp">
+        /// Time specified in seconds.
+        /// 
+        /// If not set to 0.0, GetPoseAtTime retrieves the interpolated pose closest to this timestamp. If set to 0.0,
+        /// the most recent pose estimate for the target-base pair is returned. The time of the returned pose is
+        /// contained in the pose output structure and may differ from the queried timestamp.
+        /// </param>
+        /// <param name="framePair">
+        /// A pair of coordinate frames specifying the transformation to be queried for.
+        /// 
+        /// For example, typical device motion is given by a target frame of TANGO_COORDINATE_FRAME_DEVICE and a base
+        /// frame of TANGO_COORDINATE_FRAME_START_OF_SERVICE .
+        /// </param>
+        public static void GetPoseAtTime([In, Out] TangoPoseData poseData, 
                                          double timeStamp, 
                                          TangoCoordinateFramePair framePair)
         {
@@ -69,32 +91,41 @@ public static void GetPoseAtTime([In,Out] TangoPoseData poseData,
                 Debug.Log(CLASS_NAME + ".GetPoseAtTime() Could not get pose at time : " + timeStamp);
             }
         }
-
+        
         /// <summary>
-        /// Sets the listener coordinate frame pairs.
+        /// DEPRECATED: Sets the listener coordinate frame pairs.
         /// </summary>
         /// <param name="count">Count.</param>
         /// <param name="frames">Frames.</param>
         public static void SetListenerCoordinateFramePairs(int count,
                                                            ref TangoCoordinateFramePair frames)
         {
-            int returnValue = PoseProviderAPI.TangoService_setPoseListenerFrames (count, ref frames);
+            int returnValue = PoseProviderAPI.TangoService_setPoseListenerFrames(count, ref frames);
             if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".SetListenerCoordinateFramePairs() Could not set frame pairs");
             }
         }
-
+        
         /// <summary>
-        /// Resets the motion tracking.
+        /// Resets the motion tracking system.
+        /// 
+        /// This reinitializes the <code>TANGO_COORDINATE_FRAME_START_OF_SERVICE</code> coordinate frame to where the
+        /// device is when you call this function; afterwards, if you ask for the pose with relation to start of
+        /// service, it uses this as the new origin.  You can call this function at any time.
+        ///
+        /// If you are using Area Learning, the <code>TANGO_COORDINATE_FRAME_AREA_DESCRIPTION</code> coordinate frame
+        /// is not affected by calling this function; however, the device needs to localize again before you can use
+        /// the area description.
         /// </summary>
         public static void ResetMotionTracking()
         {
             PoseProviderAPI.TangoService_resetMotionTracking();
         }
 
+#if UNITY_EDITOR
         /// <summary>
-        /// Gets the mouse emulation.
+        /// DEPRECATED: Legacy function that gets mouse / keyboard PoseEmulation data.
         /// </summary>
         /// <param name="controllerPostion">Controller postion.</param>
         /// <param name="controllerRotation">Controller rotation.</param>
@@ -129,10 +160,13 @@ public static void GetMouseEmulation(ref Vector3 controllerPostion, ref Quaterni
             controllerRotation = rotation;
             controllerPostion = position;
         }
+#endif
 
         #region ADF Functionality
         /// <summary>
-        /// Helper method to retrieve a list of saved area description files.
+        /// Gets the full list of unique area description IDs available on a device.
+        /// 
+        /// This is updated by calling <code>RefreshADFList</code>.
         /// </summary>
         /// <returns>The cached ADF list.</returns>
         public static UUID_list GetCachedADFList()
@@ -141,46 +175,51 @@ public static UUID_list GetCachedADFList()
         }
 
         /// <summary>
-        /// Returns the UUID of the most recent ADF file.
+        /// Gets the latest area description ID available on a device.
         /// </summary>
-        /// <returns>A string object encoded in UTF-8 format containing the UUID of the requested ADF.</returns>
+        /// <returns>The most recent area description ID.</returns>
         public static UUIDUnityHolder GetLatestADFUUID()
         {
-            if(m_adfList == null)
+            if (m_adfList == null)
             {
                 return null;
             }
-            return (m_adfList.GetLatestADFUUID());
+            return m_adfList.GetLatestADFUUID();
         }
 
+        /// <summary>
+        /// Check if an area description ID is valid.
+        /// </summary>
+        /// <returns><c>true</c> if the ID is valid; otherwise, <c>false</c>.</returns>
+        /// <param name="toCheck">Area description ID to check.</param>
         public static bool IsUUIDValid(UUIDUnityHolder toCheck)
         {
             return toCheck != null && toCheck.IsObjectValid();
         }
 
         /// <summary>
-        /// Gets the UUID of the ADF at the specified index. It will be encoded in UTF-8.
+        /// Gets the area description ID at the specified index as a string.
         /// </summary>
-        /// <returns>The ADF UUID as string.</returns>
-        /// <param name="index">The ADF format that we want to know the UUID of.</param>
+        /// <returns>The area description ID as a string.</returns>
+        /// <param name="index">The index of the area description ID.</param>
         public static string GetUUIDAsString(int index)
         {
-            if(m_adfList == null)
+            if (m_adfList == null)
             {
                 return string.Empty;
             }
             return m_adfList.GetUUIDAsString(index);
         }
-
+        
         /// <summary>
-        /// Gets the UUID of the ADF at the specified index. It will be encoded in UTF-8.
+        /// Gets the area description ID at the specified index as a char array.
         /// </summary>
-        /// <returns>The ADF UUID as a char array.</returns>
-        /// <param name="index">The ADF format that we want to know the UUID of.</param>
+        /// <returns>The area description ID as a char array.</returns>
+        /// <param name="index">The index of the area description ID.</param>
         public static char[] GetUUIDAsCharArray(int index)
         {
             string uuidString = GetUUIDAsString(index);
-            if(String.IsNullOrEmpty(uuidString))
+            if (String.IsNullOrEmpty(uuidString))
             {
                 return null;
             }
@@ -188,27 +227,23 @@ public static char[] GetUUIDAsCharArray(int index)
         }
 
         /// <summary>
-        /// This method is used to make sure that we have the most up to date information about ADF
-        /// that are stored on device. It will make sure to cache it in a <c>UUID_list</c> object
-        /// for easier access without querying the device API again. This method will also 
-        /// retrieve the UUID of each ADF by performing a Marshal.Copy and store the information
-        /// in a <c>UUID</c> object list.
+        /// Update the list returned by <code>GetCachedADFList</code>.
         /// </summary>
-        /// <returns>The ADF list.</returns>
+        /// <returns>Returns TANGO_SUCCESS on success, or TANGO_ERROR on failure to retrieve the list.</returns>
         public static int RefreshADFList()
         {
             int returnValue = Common.ErrorType.TANGO_ERROR;
             IntPtr tempData = IntPtr.Zero;
             returnValue = PoseProviderAPI.TangoService_getAreaDescriptionUUIDList(ref tempData);
-
-            if(returnValue != Common.ErrorType.TANGO_SUCCESS)
+            
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".RefreshADFList() Could not get ADF list from device.");
             }
             else
             {
                 byte[] charBuffer = new byte[sizeof(char)];
-                System.Collections.Generic.List<byte> dataHolder = new System.Collections.Generic.List<byte>();
+                List<byte> dataHolder = new List<byte>();
                 Marshal.Copy(tempData, charBuffer, 0, 1);
                 while (charBuffer[0] != 0 && charBuffer[0] != '\n')
                 {
@@ -218,9 +253,8 @@ public static int RefreshADFList()
                 }
                 string uuidList = System.Text.Encoding.UTF8.GetString(dataHolder.ToArray());
                 m_adfList.PopulateUUIDList(uuidList);
-                if(!m_adfList.HasEntries())
+                if (!m_adfList.HasEntries())
                 {
-
                     Debug.Log(CLASS_NAME + ".RefreshADFList() No area description files found on device.");
                 }
             }
@@ -228,16 +262,22 @@ public static int RefreshADFList()
         }
 
         /// <summary>
-        /// Saves an area description to device based on the UUID object contained in the adfID object holder.
+        /// Saves the area description, returning the unique ID associated with the saved map.
+        /// 
+        /// You can only save an area description while connected to the Tango Service and if you have enabled Area
+        /// Learning mode. If you loaded an ADF before connecting, then calling this method appends any new learned
+        /// areas to that ADF and returns the same UUID. If you did not load an ADF, this method creates a new ADF and
+        /// a new UUID for that ADF.
         /// </summary>
-        /// <returns><c>Common.ErrorType.TANGO_SUCCESS</c> if saving was successfull.</returns>
-        /// <param name="adfID">The UUIDUnityHolder object that contains the desired UUID object.</param>
+        /// <returns>
+        /// Returns TANGO_SUCCESS on success, and TANGO_ERROR if a failure occurred when saving, or if the service
+        /// needs to be initialized, or TANGO_INVALID if uuid is NULL, or of incorrect length, or if Area Learning Mode
+        /// was not set (see logcat for details).
+        /// </returns>
+        /// <param name="adfUnityHolder">Upon saving, the TangoUUID to refer to this ADF is returned here.</param>
         public static int SaveAreaDescription(UUIDUnityHolder adfUnityHolder)
         {
-            // is learning mode on
-            // are we localized?
-
-            if(adfUnityHolder == null)
+            if (adfUnityHolder == null)
             {
                 Debug.Log(CLASS_NAME + ".SaveAreaDescription() Could not save area description. UUID Holder object specified is not initialized");
                 return Common.ErrorType.TANGO_ERROR;
@@ -246,7 +286,7 @@ public static int SaveAreaDescription(UUIDUnityHolder adfUnityHolder)
             int returnValue = PoseProviderAPI.TangoService_saveAreaDescription(idData);
             if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
-                Debug.Log(CLASS_NAME + ".SaveAreaDescripton() Could not save area description with ID: "+ adfUnityHolder.GetStringDataUUID());
+                Debug.Log(CLASS_NAME + ".SaveAreaDescripton() Could not save area description with ID: " + adfUnityHolder.GetStringDataUUID());
             }
             else
             {
@@ -258,30 +298,33 @@ public static int SaveAreaDescription(UUIDUnityHolder adfUnityHolder)
         }
 
         /// <summary>
-        /// Saves the area description meta data with whatever metadata is set inside the adfUnityHolder object
+        /// Saves the metadata associated with a single area description unique ID.
         /// </summary>
-        /// <returns>The area description meta data.</returns>
-        /// <param name="adfUnityHolder">Adf unity holder.</param>
+        /// <returns>
+        /// Returns TANGO_SUCCESS on successful save, or TANGO_ERROR on failure, or if the service needs to be
+        /// initialized.
+        /// </returns>
+        /// <param name="adfUnityHolder">The metadata and associated UUID to save.</param>
         public static int SaveAreaDescriptionMetaData(UUIDUnityHolder adfUnityHolder)
         {
-            if(adfUnityHolder == null)
+            if (adfUnityHolder == null)
             {
                 Debug.Log(CLASS_NAME + ".SaveAreaDescription() Could not save area description. UUID Holder object specified is not initialized");
                 return Common.ErrorType.TANGO_ERROR;
             }
-            if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
+            if (string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
             {
                 Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null.");
                 return Common.ErrorType.TANGO_ERROR;
             }
-            if(adfUnityHolder.uuidMetaData.meta_data_pointer == IntPtr.Zero)
+            if (adfUnityHolder.uuidMetaData.meta_data_pointer == IntPtr.Zero)
             {
                 Debug.Log(CLASS_NAME + "metadata pointer is null, cannot save metadata to this ADF!");
                 return Common.ErrorType.TANGO_ERROR;
             }
             Debug.Log("UUID being saved is: " + adfUnityHolder.GetStringDataUUID());
             int returnValue = PoseProviderAPI.TangoService_saveAreaDescriptionMetadata(adfUnityHolder.GetStringDataUUID(), adfUnityHolder.uuidMetaData.meta_data_pointer);
-            if(returnValue!=Common.ErrorType.TANGO_SUCCESS)
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + "Could not save metadata to the ADF!");
             }
@@ -289,51 +332,51 @@ public static int SaveAreaDescriptionMetaData(UUIDUnityHolder adfUnityHolder)
         }
 
         /// <summary>
-        /// Takes care of saving a ADF file to the specified folder.
+        /// Export an area with the UUID from the default area storage location to the destination file directory with
+        /// the UUID as its name.
         /// </summary>
-        /// <returns><c>Common.ErrorType.TANGO_SUCCESS</c> if the ADF file was exported successfully.</returns>
-        /// <param name="UUID">The UUID of the ADF file we want to export.</param>
-        /// <param name="filePath">File path where we want to export the ADF.</param>
-        public static int ExportAreaDescriptionToFile(string UUID, string filePath)
+        /// <returns>Returns TANGO_SUCCESS if the file was exported, or TANGO_ERROR if the export failed.</returns>
+        /// <param name="uuid">The UUID of the area.</param>
+        /// <param name="filePath">The destination file directory.</param>
+        public static int ExportAreaDescriptionToFile(string uuid, string filePath)
         {
-            if(string.IsNullOrEmpty(UUID))
+            if (string.IsNullOrEmpty(uuid))
             {
                 Debug.Log("Can't export an empty UUID. Please define one.");
                 return Common.ErrorType.TANGO_ERROR;
             }
-            if(string.IsNullOrEmpty(filePath))
+            if (string.IsNullOrEmpty(filePath))
             {
                 Debug.Log("Missing file path for exporting area description. Please define one.");
                 return Common.ErrorType.TANGO_ERROR;
             }
-            int returnValue = PoseProviderAPI.TangoService_exportAreaDescription(UUID, filePath);
-            if(returnValue != Common.ErrorType.TANGO_SUCCESS)
+            int returnValue = PoseProviderAPI.TangoService_exportAreaDescription(uuid, filePath);
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
-                Debug.Log(CLASS_NAME + ".ExportAreaDescription() Could not export area description: " + UUID +
-                                                   " with path: " + filePath);
+                Debug.Log(CLASS_NAME + ".ExportAreaDescription() Could not export area description: " + uuid +
+                          " with path: " + filePath);
             }
             return returnValue;
-
         }
-    
+
         /// <summary>
-        /// Takes care of importing a adf file from the specified path. Important: make sure that the filepath
-        /// does not contain ADF files already present on device, otherwise it will return an error, as duplicates
-        /// can't be imported.
+        /// Import an area description from a file path to the default area storage location. 
+        /// 
+        /// The new area description will get a new ID, which will be stored in adfID.
         /// </summary>
         /// <returns><c>Common.ErrorType.TANGO_SUCCESS</c> if the UUID was imported successfully.</returns>
-        /// <param name="adfID">The <c>UUIDUnityHolder</c> object that will contain information about the retrieved ADF.</param>
-        /// <param name="filePath">File path containing the ADF we want to export.</param>
+        /// <param name="adfID">Upon successful return, this will have the new ID.</param>
+        /// <param name="filePath">File path of the area descrption to be imported.</param>
         public static int ImportAreaDescriptionFromFile(UUIDUnityHolder adfID, string filePath)
         {
-            if(adfID == null)
+            if (adfID == null)
             {
                 Debug.Log(CLASS_NAME + ".ImportAreaDescription() Could not  import area description. UUID Holder object specified is not initialized");
                 return Common.ErrorType.TANGO_ERROR;
             }
             IntPtr uuidHolder = Marshal.AllocHGlobal(Common.UUID_LENGTH);
             int returnValue = PoseProviderAPI.TangoService_importAreaDescription(filePath, uuidHolder);
-            if(returnValue != Common.ErrorType.TANGO_SUCCESS)
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".ImportAreaDescription() Could not import area description at path: " + filePath);
             }
@@ -347,20 +390,21 @@ public static int ImportAreaDescriptionFromFile(UUIDUnityHolder adfID, string fi
         }
 
         /// <summary>
-        /// Deletes the area description with the specified UUID from the default folder where ADF maps are stored.
-        /// This needs to be called before trying to import a ADF that is already present in the default ADF maps folder.
+        /// Deletes an area description with the specified unique ID.
         /// </summary>
-        /// <returns><c>Common.ErrorType.TANGO_SUCCESS</c> if the UUID was deleted successfully.</returns>
-        /// <param name="toDeleteUUID">The UUID of the ADF we want to delete.</param>
+        /// <returns>
+        /// Returns TANGO_SUCCESS if area description file with specified unique ID is found and can be removed.
+        /// </returns>
+        /// <param name="toDeleteUUID">The area description to delete.</param>
         public static int DeleteAreaDescription(string toDeleteUUID)
         {
-            if(string.IsNullOrEmpty(toDeleteUUID))
+            if (string.IsNullOrEmpty(toDeleteUUID))
             {
                 Debug.Log(CLASS_NAME + ".DeleteAreaDescription() Could not delete area description, UUID was empty or null.");
                 return Common.ErrorType.TANGO_ERROR;
             }
             int returnValue = PoseProviderAPI.TangoService_deleteAreaDescription(toDeleteUUID);
-            if(returnValue != Common.ErrorType.TANGO_SUCCESS)
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".DeleteAreaDescription() Could not delete area description, API returned invalid.");
             }
@@ -369,89 +413,90 @@ public static int DeleteAreaDescription(string toDeleteUUID)
         #endregion // ADF Functionality
 
         #region ADF Metadata Functionality
-
-
         /// <summary>
-        /// This function sets the pointer to metadatapointer in UUIDUnityHolder Object.
-        /// UUIDObjectHolder needs to be initialized and UUID data needs to be filled in before passing in to this 
-        /// function.
+        /// Gets the metadata handle associated with a single area description unique ID.
         /// </summary>
-        /// <returns>The area description meta data.</returns>
-        /// <param name="adfUnityHolder">Adf unity holder with UUID data only should be passed into this function. If the data is valid,
-        /// this function sets the pointer to raw UUID metadata which can then be parsed using AreaDescriptionMetaData_get or set functions</param>
+        /// <returns>
+        /// Returns TANGO_SUCCESS on successful load of metadata, or TANGO_ERROR if the service needs to be initialized
+        /// or if the metadata could not be loaded.
+        /// </returns>
+        /// <param name="adfUnityHolder">
+        /// The TangoUUID for which to load the metadata.  On success, this function sets the pointer to raw UUID
+        /// metadata which can then be extracted using AreaDescriptionMetaData_get, AreaDescriptionMetaData_get, or
+        /// PopulateAreaDescriptionMetaDataKeyValues.
+        /// </param>
         public static int GetAreaDescriptionMetaData(UUIDUnityHolder adfUnityHolder)
         {
-            if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
+            if (string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
             {
                 Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null.");
                 return Common.ErrorType.TANGO_ERROR;
             }
             int returnValue = PoseProviderAPI.TangoService_getAreaDescriptionMetadata(adfUnityHolder.GetStringDataUUID(), ref adfUnityHolder.uuidMetaData.meta_data_pointer);
-            if(returnValue != Common.ErrorType.TANGO_SUCCESS)
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + "Meta Data could not be loaded");
             }
-            Debug.Log("GetAreaDescription return value is: "+ returnValue.ToString());
+            Debug.Log("GetAreaDescription return value is: " + returnValue.ToString());
             return returnValue;
         }
 
         /// <summary>
-        /// /Populates the Metadata values of a given metadataPointer into a Dictionary object which can
-        /// then be used by application for listing the ADF's information. metaDataPointer should be initialized to 
-        /// a valid MetaData by calling the getAreaDescriptionMetaData().
+        /// Populates the Metadata key/value pairs of a given metadataPointer.
+        /// 
+        /// metaDataPointer should be initialized to a valid Metadata by calling the getAreaDescriptionMetaData().
         /// </summary>
-        /// <returns>Tango Success if successful, else returns Invalid or Tango_Error type.</returns>
+        /// <returns>TANGO_SUCCESS if successful, else TANGO_INVALID or TANGO_ERROR.</returns>
         /// <param name="metadataPointer">Metadata pointer.</param>
-        /// <param name="m_KeyValuePairs">M_ key value pairs.</param>
-        public static int PopulateAreaDescriptionMetaDataKeyValues(IntPtr metadataPointer, ref System.Collections.Generic.Dictionary<string,string> m_KeyValuePairs)
+        /// <param name="keyValuePairs">Dictionary of key/value pairs stored in the metadata.</param>
+        public static int PopulateAreaDescriptionMetaDataKeyValues(IntPtr metadataPointer, ref Dictionary<string, string> keyValuePairs)
         {
             IntPtr keyList = IntPtr.Zero;
-            if(metadataPointer == IntPtr.Zero)
+            if (metadataPointer == IntPtr.Zero)
             {
                 Debug.Log(CLASS_NAME + "metadata pointer is null, cannot save metadata to this ADF!");
                 return Common.ErrorType.TANGO_ERROR;
             }
-            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_listKeys(metadataPointer,ref keyList);
-            if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
+            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_listKeys(metadataPointer, ref keyList);
+            if (returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log("Could not read metadata keys list");
             }
             string metadataKeys = Marshal.PtrToStringAuto(keyList);
-            string[] keys = metadataKeys.Split(new char[]{','});
+            string[] keys = metadataKeys.Split(new char[] { ',' });
             string[] values = new string[keys.Length];
-            for(int i =0; i< values.Length; i++)
+            for (int i = 0; i < values.Length; i++)
             {
                 uint valuesize = 0;
                 IntPtr valuePointer = IntPtr.Zero;
-                PoseProviderAPI.TangoAreaDescriptionMetadata_get(metadataPointer,keys[i], ref valuesize,ref valuePointer);
+                PoseProviderAPI.TangoAreaDescriptionMetadata_get(metadataPointer, keys[i], ref valuesize, ref valuePointer);
                 byte[] valueByteArray = new byte[valuesize];
-                Marshal.Copy(valuePointer,valueByteArray,0,(int)valuesize);
+                Marshal.Copy(valuePointer, valueByteArray, 0, (int)valuesize);
                 values[i] = System.Text.Encoding.UTF8.GetString(valueByteArray);
-                Debug.Log("Key Values are- " + keys[i]+": "+values[i]);
-                m_KeyValuePairs.Add(keys[i],values[i]);
+                Debug.Log("Key Values are- " + keys[i] + ": " + values[i]);
+                keyValuePairs.Add(keys[i], values[i]);
             }
             return returnValue;
         }
 
         /// <summary>
-        /// Gets the value of a key and populates into the "value" string object. adfUnitHolderObject 
-        /// should be initialized with valid UUID before calling this function.
+        /// Get the value of a key from a metadata.
         /// </summary>
-        /// <returns>The description meta data_get.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        /// <param name="adfUnityHolder">Adf unity holder.</param>
+        /// <returns>TANGO_SUCCESS if successful, else TANGO_INVALID or TANGO_ERROR.</returns>
+        /// <param name="key">Key to lookup.</param>
+        /// <param name="value">On success, the value for that key.</param>
+        /// <param name="adfUnityHolder">Area description + metadata holder.</param>
         public static int AreaDescriptionMetaData_get(String key, ref String value, UUIDUnityHolder adfUnityHolder)
         {
-            if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
+            if (string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
             {
                 Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null.");
                 return Common.ErrorType.TANGO_ERROR;
             }
             uint valuesize = 0;
             IntPtr valuePointer = IntPtr.Zero;
-            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_get(adfUnityHolder.uuidMetaData.meta_data_pointer, key, ref valuesize,ref valuePointer);
-            if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
+            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_get(adfUnityHolder.uuidMetaData.meta_data_pointer, key, ref valuesize, ref valuePointer);
+            if (returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log("Could not read metadata key, Error return value is: " + returnValue);
                 return returnValue;
@@ -459,63 +504,152 @@ public static int AreaDescriptionMetaData_get(String key, ref String value, UUID
             else
             {
                 byte[] valueByteArray = new byte[valuesize];
-                Marshal.Copy(valuePointer,valueByteArray,0,(int)valuesize);
+                Marshal.Copy(valuePointer, valueByteArray, 0, (int)valuesize);
                 value = System.Text.Encoding.UTF8.GetString(valueByteArray);
                 return returnValue;
             }
         }
 
         /// <summary>
-        /// Sets the AreaDescription MetaData to the UUID in the adfUnityHolder Object.Make sure adfUnityHolder already has
-        /// a pointer to the Metadata of the specified UUID by calling GetAreaDescriptionMetaData().
+        /// Set the value of a key in a metadata.
         /// </summary>
-        /// <returns>Returns Tango Success on successful set, else Returns Invalid or TangoError</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        /// <param name="adfUnityHolder">Adf unity holder in which the metadata is cointained.</param>
+        /// <returns>TANGO_SUCCESS if successful, else TANGO_INVALID or TANGO_ERROR.</returns>
+        /// <param name="key">Key to set the value of.</param>
+        /// <param name="value">Value to set.</param>
+        /// <param name="adfUnityHolder">Area description + metadata holder.</param>
         public static int AreaDescriptionMetaData_set(String key, String value, UUIDUnityHolder adfUnityHolder)
         {
-            if(string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
+            if (string.IsNullOrEmpty(adfUnityHolder.GetStringDataUUID()))
             {
                 Debug.Log(CLASS_NAME + ".MetaData cannot be retrived for the area description as UUIDUnityHolder object was empty or null.");
                 return Common.ErrorType.TANGO_ERROR;
             }
 
-            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_set(adfUnityHolder.uuidMetaData.meta_data_pointer, key, (uint) value.Length, value);
-            if(returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
+            int returnValue = PoseProviderAPI.TangoAreaDescriptionMetadata_set(adfUnityHolder.uuidMetaData.meta_data_pointer, key, (uint)value.Length, value);
+            if (returnValue != Tango.Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log("Could not set Metadata Key, Error return value is: " + returnValue);
                 return returnValue;
             }
             else
-            {   
-                Debug.Log("Metadata Set succesful, Key set is: "+ key+" Value set is: " + value);
+            {
+                Debug.Log("Metadata Set succesful, Key set is: " + key + " Value set is: " + value);
                 return returnValue;
             }
         }
-
         #endregion // ADF Metadata Functionality
 
-    #region API_Functions
+        /// <summary>
+        /// Set the C callback for the Tango pose interface.
+        /// </summary>
+        /// <param name="framePairs">Passed in to the C API.</param>
+        /// <param name="callback">Callback.</param>
+        internal static void SetCallback(TangoCoordinateFramePair[] framePairs, TangoService_onPoseAvailable callback)
+        {
+            int returnValue = PoseProviderAPI.TangoService_connectOnPoseAvailable(framePairs.Length, framePairs, callback);
+            if (returnValue != Common.ErrorType.TANGO_SUCCESS)
+            {
+                Debug.Log(CLASS_NAME + ".SetCallback() Callback was not set!");
+            }
+            else
+            {
+                Debug.Log(CLASS_NAME + ".SetCallback() OnPose callback was set!");
+            }
+        }
+
+#if UNITY_EDITOR
+        /// <summary>
+        /// INTERNAL USE: Update the Tango emulation state for pose data.
+        /// 
+        /// Make this this is only called once per frame.
+        /// </summary>
+        internal static void UpdateTangoEmulation()
+        {
+            // Update the emulated rotation (do this first to make sure the position is rotated)
+            //
+            // Note: We need to use Input.GetAxis here because Unity3D does not provide a way to get the underlying
+            // mouse delta.
+            if (!Input.GetKey(KeyCode.LeftShift))
+            {
+                m_emulatedPoseAnglesFromForward.y -= Input.GetAxis("Mouse X") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime;
+                m_emulatedPoseAnglesFromForward.x += Input.GetAxis("Mouse Y") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime;
+            }
+            else
+            {
+                m_emulatedPoseAnglesFromForward.z -= Input.GetAxis("Mouse X") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime;
+            }
+            
+            // Update the emulated position
+            Quaternion emulatedPoseRotation = Quaternion.Euler(90, 0, 0) * Quaternion.Euler(m_emulatedPoseAnglesFromForward);
+            Vector3 directionRight = emulatedPoseRotation * new Vector3(1, 0, 0);
+            Vector3 directionForward = emulatedPoseRotation * new Vector3(0, 0, -1);
+            Vector3 directionUp = emulatedPoseRotation * new Vector3(0, 1, 0);
+            
+            if (Input.GetKey(KeyCode.W))
+            {
+                // Forward
+                m_emulatedPosePosition += directionForward * TRANSLATION_SPEED * Time.deltaTime;
+            }
+            if (Input.GetKey(KeyCode.S))
+            {
+                // Backward
+                m_emulatedPosePosition -= directionForward * TRANSLATION_SPEED * Time.deltaTime;
+            }
+            if (Input.GetKey(KeyCode.A))
+            {
+                // Left
+                m_emulatedPosePosition -= directionRight * TRANSLATION_SPEED * Time.deltaTime;
+            }
+            if (Input.GetKey(KeyCode.D))
+            {
+                // Right
+                m_emulatedPosePosition += directionRight * TRANSLATION_SPEED * Time.deltaTime;
+            }
+            if (Input.GetKey(KeyCode.R))
+            {
+                // Up
+                m_emulatedPosePosition += directionUp * TRANSLATION_SPEED * Time.deltaTime;
+            }
+            if (Input.GetKey(KeyCode.F))
+            {
+                // Down
+                m_emulatedPosePosition -= directionUp * TRANSLATION_SPEED * Time.deltaTime;
+            }
+        }
+
+        /// <summary>
+        /// INTERNAL USE: Get the most recent values for Tango emulation.
+        /// </summary>
+        /// <param name="posePosition">The new Tango emulation position.</param>
+        /// <param name="poseRotation">The new Tango emulation rotation.</param>
+        internal static void GetTangoEmulation(out Vector3 posePosition, out Quaternion poseRotation)
+        {
+            posePosition = m_emulatedPosePosition;
+            poseRotation = Quaternion.Euler(90, 0, 0) * Quaternion.Euler(m_emulatedPoseAnglesFromForward);
+        }
+#endif
+
+        #region API_Functions
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         private struct PoseProviderAPI
         { 
-    #if UNITY_ANDROID && !UNITY_EDITOR
-
+#if UNITY_ANDROID && !UNITY_EDITOR
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern int TangoService_connectOnPoseAvailable(int count,
                                                                          TangoCoordinateFramePair[] framePairs,
                                                                          TangoService_onPoseAvailable onPoseAvailable);
-            
-            
+
             [DllImport(Common.TANGO_UNITY_DLL)]
-            public static extern int TangoService_getPoseAtTime (double timestamp,
-                                                                 TangoCoordinateFramePair framePair,
-                                                                 [In, Out] TangoPoseData pose);
+            public static extern int TangoService_getPoseAtTime(double timestamp,
+                                                                TangoCoordinateFramePair framePair,
+                                                                [In, Out] TangoPoseData pose);
 
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern int TangoService_setPoseListenerFrames(int count,
                                                                         ref TangoCoordinateFramePair frames);
-            
+
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern void TangoService_resetMotionTracking();
 
@@ -555,7 +689,7 @@ public static extern int TangoAreaDescriptionMetadata_set(IntPtr metadata, [Mars
 
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern int TangoAreaDescriptionMetadata_listKeys(IntPtr metadata, ref IntPtr key_list);
-    #else
+#else
             public static int TangoService_connectOnPoseAvailable(int count,
                                                                   TangoCoordinateFramePair[] framePairs,
                                                                   TangoService_onPoseAvailable onPoseAvailable)
@@ -563,9 +697,9 @@ public static int TangoService_connectOnPoseAvailable(int count,
                 return Common.ErrorType.TANGO_SUCCESS;
             }
 
-            public static int TangoService_getPoseAtTime (double timestamp,
-                                                          TangoCoordinateFramePair framePair,
-                                                          [In, Out] TangoPoseData pose)
+            public static int TangoService_getPoseAtTime(double timestamp,
+                                                         TangoCoordinateFramePair framePair,
+                                                         [In, Out] TangoPoseData pose)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
@@ -602,18 +736,18 @@ public static int TangoService_saveAreaDescriptionMetadata([MarshalAs(UnmanagedT
                 return Common.ErrorType.TANGO_SUCCESS;
             }
             
-            public static int TangoService_importAreaDescription([MarshalAs(UnmanagedType.LPStr)] string source_file_path, IntPtr UUID)
+            public static int TangoService_importAreaDescription([MarshalAs(UnmanagedType.LPStr)] string source_file_path, IntPtr uuid)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
             
-            public static int TangoService_exportAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID, 
+            public static int TangoService_exportAreaDescription([MarshalAs(UnmanagedType.LPStr)] string uuid, 
                                                                  [MarshalAs(UnmanagedType.LPStr)] string dst_file_path)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
 
-            public static int TangoService_deleteAreaDescription([MarshalAs(UnmanagedType.LPStr)] string UUID)
+            public static int TangoService_deleteAreaDescription([MarshalAs(UnmanagedType.LPStr)] string uuid)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
@@ -639,7 +773,7 @@ public static int TangoAreaDescriptionMetadata_listKeys(IntPtr metadata, ref Int
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
-            #endif
+#endif
         }
         #endregion
     }
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs
index e9205325..7965d18c 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoApplication.cs
@@ -1,38 +1,63 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoApplication.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Collections;
 using System.Runtime.InteropServices;
 using System.IO;
 using System.Linq;
 using UnityEngine;
-using System.Reflection;
 
 namespace Tango
 {
-	public delegate void PermissionsEvent(bool permissionsGranted);
+    /// <summary>
+    /// Delegate for permission callbacks.
+    /// </summary>
+    /// <param name="permissionsGranted"><c>true</c> if permissions were granted, otherwise <c>false</c>.</param>
+    public delegate void PermissionsEvent(bool permissionsGranted);
+
+    /// <summary>
+    /// Delegate for service connection.
+    /// </summary>
     public delegate void OnTangoConnectEventHandler();
+
+    /// <summary>
+    /// Delegate for service disconnection.
+    /// </summary>
     public delegate void OnTangoDisconnectEventHandler();
 
     /// <summary>
-    /// Entry point of Tango applications, maintain the application handler.
+    /// Main entry point for the Tango Service.
+    /// 
+    /// This component handles nearly all communication with the underlying TangoService.  You must have one of these
+    /// in your scene for Tango to work.  Customization of the Tango connection can be done in the Unity editor or by
+    /// programatically setting the member flags.
+    /// 
+    /// This sends out events to Components that derive from the ITangoPose, ITangoDepth, etc. interfaces and
+    /// register themselves via Register.  This also sends out events to callbacks passed in through 
+    /// RegisterOnTangoConnect, RegisterOnTangoDisconnect, and RegisterPermissionsCallback.
+    /// 
+    /// Note: To connect to the Tango Service, you should call InitApplication after properly registering everything.
     /// </summary>
     public class TangoApplication : MonoBehaviour
     {   
-        ///<summary>
+        /// <summary>
         /// Permission types used by Tango applications.
         /// </summary>
         [Flags]
@@ -52,7 +77,9 @@ private enum PermissionsTypes
         public bool m_enableAreaLearning = false;
         public bool m_useExperimentalVideoOverlay = true;
         public bool m_useExperimentalADF = false;
-        private static string m_tangoServiceVersion = string.Empty;
+#if UNITY_EDITOR
+        public static bool m_mouseEmulationViaPoseUpdates = false;
+#endif
         private const string CLASS_NAME = "TangoApplication";
         private const string ANDROID_PRO_LABEL_TEXT = "<size=30>Tango plugin requires Unity Android Pro!</size>";
         private const float ANDROID_PRO_LABEL_PERCENT_X = 0.5f;
@@ -62,10 +89,22 @@ private enum PermissionsTypes
         private const string DEFAULT_AREA_DESCRIPTION = "/sdcard/defaultArea";
         private const string MOTION_TRACKING_LOG_PREFIX = "Motion tracking mode : ";
         private const int MINIMUM_API_VERSION = 1978;
+        private static string m_tangoServiceVersion = string.Empty;
+
+        /// <summary>
+        /// Occurs when permission event.
+        /// </summary>
+        private event PermissionsEvent PermissionEvent;
+
+        /// <summary>
+        /// Occurs when on tango connect.
+        /// </summary>
+        private event OnTangoConnectEventHandler OnTangoConnect;
 
-        private event PermissionsEvent m_permissionEvent;
-        private event OnTangoConnectEventHandler m_onTangoConnect;
-        private event OnTangoDisconnectEventHandler m_onTangoDisconnect;
+        /// <summary>
+        /// Occurs when on tango disconnect.
+        /// </summary>
+        private event OnTangoDisconnectEventHandler OnTangoDisconnect;
 
         private PermissionsTypes m_requiredPermissions = 0;
         private static bool m_isValidTangoAPIVersion = false;
@@ -83,37 +122,40 @@ private enum PermissionsTypes
         private YUVTexture m_yuvTexture;
 
         /// <summary>
-        /// Gets the video overlay texture.
-        /// </summary>
-        /// <returns>The video overlay texture.</returns>
-        public YUVTexture GetVideoOverlayTextureYUV()
-        {
-            return m_yuvTexture;
-        }
-
-        /// <summary>
-        /// Gets the tango service version.
+        /// Get the Tango service version name.
         /// </summary>
-        /// <returns>The tango service version.</returns>
+        /// <returns>String for the version name.</returns>
         public static string GetTangoServiceVersion()
         {
             if (m_tangoServiceVersion == string.Empty)
             {
                 m_tangoServiceVersion = AndroidHelper.GetVersionName("com.projecttango.tango");
             }
-
+            
             return m_tangoServiceVersion;
         }
 
         /// <summary>
-        /// Register the specified tangoObject.
+        /// Get the video overlay texture.
+        /// </summary>
+        /// <returns>The video overlay texture.</returns>
+        public YUVTexture GetVideoOverlayTextureYUV()
+        {
+            return m_yuvTexture;
+        }
+
+        /// <summary>
+        /// Register to get Tango callbacks.
+        /// 
+        /// The object should derive from one of ITangoDepth, ITangoEvent, ITangoPos, ITangoVideoOverlay, or
+        /// ITangoExperimentalTangoVideoOverlay.  You will get callback during Update until you unregister.
         /// </summary>
-        /// <param name="tangoObject">Tango object.</param>
+        /// <param name="tangoObject">Object to get Tango callbacks from.</param>
         public void Register(System.Object tangoObject)
         {
             ITangoEvent tangoEvent = tangoObject as ITangoEvent;
             
-            if(tangoEvent != null)
+            if (tangoEvent != null)
             {
                 RegisterOnTangoEvent(tangoEvent.OnTangoEventAvailableEventHandler);
             }
@@ -149,7 +191,7 @@ public void Register(System.Object tangoObject)
                         RegisterOnExperimentalTangoVideoOverlay(videoOverlayHandler.OnExperimentalTangoImageAvailable);
                     }
                 } 
-				else
+                else
                 {
                     ITangoVideoOverlay videoOverlayHandler = tangoObject as ITangoVideoOverlay;
                     
@@ -162,14 +204,16 @@ public void Register(System.Object tangoObject)
         }
 
         /// <summary>
-        /// Unregister the specified tangoObject.
+        /// Unregister from Tango callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
-        /// <param name="tangoObject">Tango object.</param>
+        /// <param name="tangoObject">Object to stop getting Tango callbacks from.</param>
         public void Unregister(System.Object tangoObject)
         {
             ITangoEvent tangoEvent = tangoObject as ITangoEvent;
             
-            if(tangoEvent != null)
+            if (tangoEvent != null)
             {
                 UnregisterOnTangoEvent(tangoEvent.OnTangoEventAvailableEventHandler);
             }
@@ -204,7 +248,8 @@ public void Unregister(System.Object tangoObject)
                     {
                         UnregisterOnExperimentalTangoVideoOverlay(videoOverlayHandler.OnExperimentalTangoImageAvailable);
                     }
-                } else
+                }
+                else
                 {
                     ITangoVideoOverlay videoOverlayHandler = tangoObject as ITangoVideoOverlay;
                     
@@ -215,284 +260,356 @@ public void Unregister(System.Object tangoObject)
                 }
             }
         }
-        
+
         /// <summary>
-        /// Registers the on tango pose event.
+        /// Check if all requested permissions have been granted.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler)
+        /// <returns><c>true</c> if all requested permissions were granted; otherwise, <c>false</c>.</returns>
+        public bool HasRequestedPermissions()
         {
-            if (m_poseListener != null)
+            return m_requiredPermissions == PermissionsTypes.NONE;
+        }
+
+        /// <summary>
+        /// Register to get an event callback when all permissions are granted.
+        /// 
+        /// The passed event will get called once all Tango permissions have been granted.  Registering 
+        /// after all permissions have already been granted will cause the event to never fire.
+        /// </summary>
+        /// <param name="permissionsEventHandler">Event to call.</param>
+        public void RegisterPermissionsCallback(PermissionsEvent permissionsEventHandler)
+        {
+            if (permissionsEventHandler != null)
             {
-                m_poseListener.RegisterTangoPoseAvailable(handler);
+                PermissionEvent += permissionsEventHandler;
             }
         }
 
         /// <summary>
-        /// Registers the on tango depth event.
+        /// Unregister from the permission callbacks.
+        /// 
+        /// See TangoApplication.RegisterPermissionsCallback for more details.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler)
+        /// <param name="permissionsEventHandler">Event to remove.</param>
+        public void UnregisterPermissionsCallback(PermissionsEvent permissionsEventHandler)
         {
-            if (m_depthListener != null)
+            if (permissionsEventHandler != null)
             {
-                m_depthListener.RegisterOnTangoDepthAvailable(handler);
+                PermissionEvent -= permissionsEventHandler;
             }
         }
 
         /// <summary>
-        /// Registers the on tango event.
+        /// DEPRECATED: Unregister from the permission callbacks.
+        /// 
+        /// See TangoApplication.RegisterPermissionsCallback for more details.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoEvent(OnTangoEventAvailableEventHandler handler)
+        /// <param name="permissionsEventHandler">Event to remove.</param>
+        public void RemovePermissionsCallback(PermissionsEvent permissionsEventHandler)
         {
-            if (m_tangoEventListener != null)
+            if (permissionsEventHandler != null)
             {
-                m_tangoEventListener.RegisterOnTangoEventAvailable(handler);
+                PermissionEvent -= permissionsEventHandler;
             }
         }
 
         /// <summary>
-        /// Registers the on tango video overlay.
+        /// Register to get an event callback when connected to the Tango service.
+        /// 
+        /// The passed event will get called once connected to the Tango service.  Registering 
+        /// after already connected will cause the event to not fire until disconnected and then
+        /// connecting again.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event to call.</param>
+        public void RegisterOnTangoConnect(OnTangoConnectEventHandler handler)
         {
-            if (m_videoOverlayListener != null)
+            if (handler != null)
             {
-                m_videoOverlayListener.RegisterOnTangoImageAvailable(handler);
+                OnTangoConnect += handler;
             }
         }
 
         /// <summary>
-        /// Registers the on experimental tango video overlay.
+        /// Unregister from the callback when connected to the Tango service.
+        /// 
+        /// See TangoApplication.RegisterOnTangoConnect for more details.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void RegisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event to remove.</param>
+        public void UnregisterOnTangoConnect(OnTangoConnectEventHandler handler)
         {
-            if (m_videoOverlayListener != null)
+            if (handler != null)
             {
-                m_videoOverlayListener.RegisterOnExperimentalTangoImageAvailable(handler);
+                OnTangoConnect -= handler;
             }
         }
 
         /// <summary>
-        /// Determines if has requested permissions.
+        /// Register to get an event callback when disconnected from the Tango service.
+        /// 
+        /// The passed event will get called when disconnected from the Tango service.
         /// </summary>
-        /// <returns><c>true</c> if has requested permissions; otherwise, <c>false</c>.</returns>
-        public bool HasRequestedPermissions()
+        /// <param name="handler">Event to remove.</param>
+        public void RegisterOnTangoDisconnect(OnTangoDisconnectEventHandler handler)
         {
-            return (m_requiredPermissions == PermissionsTypes.NONE);
+            if (handler != null)
+            {
+                OnTangoDisconnect += handler;
+            }
         }
 
         /// <summary>
-        /// Registers the permissions callback.
+        /// Unregister from the callback when disconnected from the Tango service.
+        /// 
+        /// See TangoApplication.RegisterOnTangoDisconnect for more details.
         /// </summary>
-        /// <param name="permissionsEventHandler">Permissions event handler.</param>
-        public void RegisterPermissionsCallback(PermissionsEvent permissionsEventHandler)
+        /// <param name="handler">Event to remove.</param>
+        public void UnregisterOnTangoDisconnect(OnTangoDisconnectEventHandler handler)
         {
-            if (permissionsEventHandler != null)
+            if (handler != null)
             {
-                m_permissionEvent += permissionsEventHandler;
-            }
-        }
-		
-		/// <summary>
-		/// Unregisters the permissions callback.
-		/// </summary>
-		/// <param name="permissionsEventHandler">Permissions event handler.</param>
-		public void UnregisterPermissionsCallback(PermissionsEvent permissionsEventHandler)
-		{
-			if (permissionsEventHandler != null)
-			{
-				m_permissionEvent -= permissionsEventHandler;
-			}
-		}
+                OnTangoDisconnect -= handler;
+            }
+        }
+
+        /// <summary>
+        /// Init step 1.  Call this to request Tango permissions.
+        /// 
+        /// After setting up the necessary permissions and callbacks, call this to request each of
+        /// the permissions in order.  Once all the permissions are granted, the permission callback
+        /// will get called to do the next step.
+        /// 
+        /// Also see TangoApplication.InitApplication, TangoApplication.InitProviders, and 
+        /// TangoApplication.ConnectToService.
+        /// </summary>
+        public void RequestNecessaryPermissionsAndConnect()
+        {
+            _ResetPermissionsFlags();
+            _RequestNextPermission();
+        }
         
-		/// <summary>
-		/// Registers the on tango connect.
-		/// </summary>
-		/// <param name="handler">Handler.</param>
-        public void RegisterOnTangoConnect(OnTangoConnectEventHandler handler)
+        /// <summary>
+        /// Init step 2.  Call this to initialize interal state on TangoApplication.
+        /// 
+        /// Call this in the permissions callback if all permissions have been granted.
+        /// 
+        /// Also see TangoApplication.RequestNecessaryPermissionsandConnect, TangoApplication.InitProviders, and
+        /// TangoApplication.ConnectToService.
+        /// </summary>
+        public void InitApplication()
         {
-            if(handler != null)
+            Debug.Log("-----------------------------------Initializing Tango");
+            _TangoInitialize();
+            TangoConfig.InitConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
+
+            if (m_enableVideoOverlay && m_useExperimentalVideoOverlay)
             {
-                m_onTangoConnect += handler;
+                int yTextureWidth = 0;
+                int yTextureHeight = 0;
+                int uvTextureWidth = 0;
+                int uvTextureHeight = 0;
+                
+                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth);
+                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight);
+                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth);
+                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight);
+                
+                if (yTextureWidth == 0 || yTextureHeight == 0 || uvTextureWidth == 0 || uvTextureHeight == 0)
+                {
+                    Debug.Log("Video overlay texture sizes were not set properly");
+                }
+
+                m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight);
             }
         }
         
-		/// <summary>
-		/// Registers the on tango disconnect.
-		/// </summary>
-		/// <param name="handler">Handler.</param>
-        public void RegisterOnTangoDisconnect(OnTangoDisconnectEventHandler handler)
+        /// <summary>
+        /// Init step 3.  Call this to choose what area description ID to use, if any.
+        /// 
+        /// Call this in the permissions callback after calling TangoApplication.InitApplication.
+        /// 
+        /// Also see TangoApplication.RequestNecessaryPermissionsAndConnect, TangoApplication.InitApplication, and
+        /// TangoApplication.ConnectToService.
+        /// </summary>
+        /// <param name="uuid">Area description ID to load, or <c>string.Empty</c> to not use any.</param>
+        public void InitProviders(string uuid)
         {
-            if(handler != null)
-            {
-                m_onTangoDisconnect += handler;
-            }
+            _InitializeMotionTracking(uuid);
+            _InitializeDepth();
+            _InitializeOverlay();
+            _SetEventCallbacks();
         }
-
+        
         /// <summary>
-        /// Unregisters the on tango pose event.
+        /// Init step 4.  Call this to connect to the Tango service.
+        /// 
+        /// Also see TangoApplication.RequestNecessaryPermissionsAndConnect, TangoApplication.InitApplication, 
+        /// and TangoApplication.InitProviders.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler)
+        public void ConnectToService()
         {
-            if (m_poseListener != null)
-            {
-                m_poseListener.UnregisterTangoPoseAvailable(handler);
-            }
+            Debug.Log("TangoApplication.ConnectToService()");
+            _TangoConnect();
         }
 
         /// <summary>
-        /// Unregisters the on tango depth event.
+        /// Disconnect from the Tango service.
+        /// 
+        /// This is called automatically when the TangoApplication goes away.  You only need 
+        /// to call this to disconnect from the Tango service before the TangoApplication goes
+        /// away.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler)
+        public void Shutdown()
         {
-            if (m_depthListener != null)
-            {
-                m_depthListener.UnregisterOnTangoDepthAvailable(handler);
-            }
+            Debug.Log("Tango Shutdown");
+            TangoConfig.Free();
+            _TangoDisconnect();
         }
-        
+
         /// <summary>
-        /// Unregisters the on tango event.
+        /// Register to get Tango pose callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
         /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoEvent(OnTangoEventAvailableEventHandler handler)
+        internal void RegisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler)
         {
-            if (m_tangoEventListener != null)
+            if (m_poseListener != null)
             {
-                m_tangoEventListener.UnregisterOnTangoEventAvailable(handler);
+                m_poseListener.RegisterTangoPoseAvailable(handler);
             }
         }
 
-        public void UnregisterOnTangoConnect(OnTangoConnectEventHandler handler)
+        /// <summary>
+        /// Unregister from the Tango pose callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
+        /// </summary>
+        /// <param name="handler">Event to remove.</param>
+        internal void UnregisterOnTangoPoseEvent(OnTangoPoseAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (m_poseListener != null)
             {
-                m_onTangoConnect -= handler;
+                m_poseListener.UnregisterTangoPoseAvailable(handler);
             }
         }
-        
-        public void UnregisterOnTangoDisconnect(OnTangoDisconnectEventHandler handler)
+
+        /// <summary>
+        /// Register to get Tango depth callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
+        /// </summary>
+        /// <param name="handler">Object to stop getting Tango callbacks from.</param>
+        internal void RegisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler)
         {
-            if(handler != null)
+            if (m_depthListener != null)
             {
-                m_onTangoDisconnect -= handler;
+                m_depthListener.RegisterOnTangoDepthAvailable(handler);
             }
         }
 
         /// <summary>
-        /// Unregisters the on tango video overlay.
+        /// Unregister from the Tango depth callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Event to remove.</param>
+        internal void UnregisterOnTangoDepthEvent(OnTangoDepthAvailableEventHandler handler)
         {
-            if (m_videoOverlayListener != null)
+            if (m_depthListener != null)
             {
-                m_videoOverlayListener.UnregisterOnTangoImageAvailable(handler);
+                m_depthListener.UnregisterOnTangoDepthAvailable(handler);
             }
         }
-        
+
         /// <summary>
-        /// Unregisters the on experimental tango video overlay.
+        /// Register to get Tango event callbacks.
+        /// 
+        /// See TangoApplication.Register for details.
         /// </summary>
-        /// <param name="handler">Handler.</param>
-        public void UnregisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler)
+        /// <param name="handler">Object to stop getting Tango callbacks from.</param>
+        internal void RegisterOnTangoEvent(OnTangoEventAvailableEventHandler handler)
         {
-            if (m_videoOverlayListener != null)
+            if (m_tangoEventListener != null)
             {
-                m_videoOverlayListener.UnregisterOnExperimentalTangoImageAvailable(handler);
+                m_tangoEventListener.RegisterOnTangoEventAvailable(handler);
             }
         }
 
         /// <summary>
-        /// Removes the permissions callback.
+        /// Unregister from the Tango event callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
-        /// <param name="permissionsEventHandler">Permissions event handler.</param>
-        public void RemovePermissionsCallback(PermissionsEvent permissionsEventHandler)
+        /// <param name="handler">Event to remove.</param>
+        internal void UnregisterOnTangoEvent(OnTangoEventAvailableEventHandler handler)
         {
-            if (permissionsEventHandler != null)
+            if (m_tangoEventListener != null)
             {
-                m_permissionEvent -= permissionsEventHandler;
+                m_tangoEventListener.UnregisterOnTangoEventAvailable(handler);
             }
         }
 
-        
         /// <summary>
-        /// Requests the necessary permissions for Tango functionality.
+        /// Register to get Tango video overlay callbacks.
+        /// 
+        /// See TangoApplication.Register for details.
         /// </summary>
-        public void RequestNecessaryPermissionsAndConnect()
+        /// <param name="handler">Object to stop getting Tango callbacks from.</param>
+        internal void RegisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler)
         {
-            _ResetPermissionsFlags();
-            _RequestNextPermission();
+            if (m_videoOverlayListener != null)
+            {
+                m_videoOverlayListener.RegisterOnTangoImageAvailable(handler);
+            }
         }
-        
+
         /// <summary>
-        /// Initialize Tango Service and Config.
+        /// Unregister from the Tango video overlay callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
-        public void InitApplication()
+        /// <param name="handler">Event to remove.</param>
+        internal void UnregisterOnTangoVideoOverlay(OnTangoImageAvailableEventHandler handler)
         {
-            Debug.Log("-----------------------------------Initializing Tango");
-            _TangoInitialize();
-            TangoConfig.InitConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
-
-            if(m_enableVideoOverlay && m_useExperimentalVideoOverlay)
+            if (m_videoOverlayListener != null)
             {
-                int yTextureWidth = 0;
-                int yTextureHeight = 0;
-                int uvTextureWidth = 0;
-                int uvTextureHeight = 0;
-                
-                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth);
-                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight);
-                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth);
-                TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight);
-                
-                if(yTextureWidth == 0 ||
-                   yTextureHeight == 0 ||
-                   uvTextureWidth == 0 ||
-                   uvTextureHeight == 0)
-                {
-                    Debug.Log("Video overlay texture sizes were not set properly");
-                }
-
-                m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight);
+                m_videoOverlayListener.UnregisterOnTangoImageAvailable(handler);
             }
         }
-        
+
         /// <summary>
-        /// Initialize the providers.
+        /// Experimental API only, subject to change.  Register to get Tango video overlay callbacks.
         /// </summary>
-        /// <param name="UUID"> UUID to be loaded, if any.</param>
-        public void InitProviders(string UUID)
+        /// <param name="handler">Object to stop getting Tango callbacks from.</param>
+        internal void RegisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler)
         {
-            _InitializeMotionTracking(UUID);
-            _InitializeDepth();
-            _InitializeOverlay();
-            _SetEventCallbacks();
+            if (m_videoOverlayListener != null)
+            {
+                m_videoOverlayListener.RegisterOnExperimentalTangoImageAvailable(handler);
+            }
         }
-        
+
         /// <summary>
-        /// Connects to Tango Service.
+        /// Experimental API only, subject to change.  Unregister from the Tango video overlay callbacks.
+        /// 
+        /// See TangoApplication.Register for more details.
         /// </summary>
-        public void ConnectToService()
+        /// <param name="handler">Event to remove.</param>
+        internal void UnregisterOnExperimentalTangoVideoOverlay(OnExperimentalTangoImageAvailableEventHandler handler)
         {
-            Debug.Log("TangoApplication.ConnectToService()");
-            _TangoConnect();
+            if (m_videoOverlayListener != null)
+            {
+                m_videoOverlayListener.UnregisterOnExperimentalTangoImageAvailable(handler);
+            }
         }
 
         /// <summary>
-        /// Shutdown this instance.
+        /// Gets the get tango API version code.
         /// </summary>
-        public void Shutdown()
+        /// <returns>The get tango API version code.</returns>
+        private static int _GetTangoAPIVersion()
         {
-            Debug.Log("Tango Shutdown");
-            TangoConfig.Free();
-            _TangoDisconnect();
+            return AndroidHelper.GetVersionCode("com.projecttango.tango");
         }
 
         /// <summary>
@@ -563,7 +680,8 @@ private void _SetVideoOverlayCallbacks()
         /// <summary>
         /// Initialize motion tracking.
         /// </summary>
-        private void _InitializeMotionTracking(string UUID)
+        /// <param name="uuid">ADF UUID to load.</param>
+        private void _InitializeMotionTracking(string uuid)
         {
             System.Collections.Generic.List<TangoCoordinateFramePair> framePairs = new System.Collections.Generic.List<TangoCoordinateFramePair>();
             
@@ -577,10 +695,10 @@ private void _InitializeMotionTracking(string UUID)
                 if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning)
                 {
                     Debug.Log("Area Learning is enabled.");
-                    if (!string.IsNullOrEmpty(UUID))
+                    if (!string.IsNullOrEmpty(uuid))
                     {
                         TangoConfig.SetBool("config_experimental_high_accuracy_small_scale_adf", m_useExperimentalADF);
-                        TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID);
+                        TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, uuid);
                     }
                     
                     TangoCoordinateFramePair areaDescription;
@@ -638,11 +756,13 @@ private void _TangoInitialize()
                 {
                     Debug.Log("-------------------Tango initialize status : " + status);
                     Debug.Log(CLASS_NAME + ".Initialize() The service has not been initialized!");
-                } else
+                }
+                else
                 {
                     Debug.Log(CLASS_NAME + ".Initialize() Tango was initialized!");
                 }
-            } else
+            }
+            else
             {
                 Debug.Log(CLASS_NAME + ".Initialize() Invalid API version. please update to minimul API version.");
             }
@@ -660,14 +780,15 @@ private void _TangoConnect()
                 if (TangoServiceAPI.TangoService_connect(m_callbackContext, TangoConfig.GetConfig()) != Common.ErrorType.TANGO_SUCCESS)
                 {
                     Debug.Log(CLASS_NAME + ".Connect() Could not connect to the Tango Service!");
-                } else
+                }
+                else
                 {
                     AndroidHelper.PerformanceLog("Unity _TangoConnect end");
                     Debug.Log(CLASS_NAME + ".Connect() Tango client connected to service!");
                     
-                    if (m_onTangoConnect != null)
+                    if (OnTangoConnect != null)
                     {
-                        m_onTangoConnect();
+                        OnTangoConnect();
                     }
                 }
             }
@@ -683,13 +804,14 @@ private void _TangoDisconnect()
             if (TangoServiceAPI.TangoService_disconnect() != Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".Disconnect() Could not disconnect from the Tango Service!");
-            } else
+            }
+            else
             {
                 Debug.Log(CLASS_NAME + ".Disconnect() Tango client disconnected from service!");
 
-                if (m_onTangoDisconnect != null)
+                if (OnTangoDisconnect != null)
                 {
-                    m_onTangoDisconnect();
+                    OnTangoDisconnect();
                 }
             }
         }
@@ -707,9 +829,10 @@ private bool _IsValidTangoAPIVersion()
                 if (versionCode < 0)
                 {
                     m_isValidTangoAPIVersion = false;
-                } else
+                }
+                else
                 {
-                    m_isValidTangoAPIVersion = (versionCode >= MINIMUM_API_VERSION);
+                    m_isValidTangoAPIVersion = versionCode >= MINIMUM_API_VERSION;
                 }
                 
                 m_hasVersionBeenChecked = true;
@@ -718,15 +841,6 @@ private bool _IsValidTangoAPIVersion()
             return m_isValidTangoAPIVersion;
         }
 
-        /// <summary>
-        /// Gets the get tango API version code.
-        /// </summary>
-        /// <returns>The get tango API version code.</returns>
-        private static int _GetTangoAPIVersion()
-        {
-            return AndroidHelper.GetVersionCode("com.projecttango.tango");
-        }
-
         /// <summary>
         /// Android on pause.
         /// </summary>
@@ -768,31 +882,33 @@ private void _androidOnActivityResult(int requestCode, int resultCode, AndroidJa
             switch (requestCode)
             {
                 case Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE:
+                {
+                    if (resultCode == (int)Common.AndroidResult.SUCCESS)
+                    {
+                        _FlipBitAndCheckPermissions(PermissionsTypes.MOTION_TRACKING);
+                    }
+                    else
                     {
-                        if (resultCode == (int)Common.AndroidResult.SUCCESS)
-                        {
-                            _FlipBitAndCheckPermissions(PermissionsTypes.MOTION_TRACKING);
-                        } else
-                        {
-                            _PermissionWasDenied();
-                        }
-                        break;
+                        _PermissionWasDenied();
                     }
+                    break;
+                }
                 case Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE:
+                {
+                    if (resultCode == (int)Common.AndroidResult.SUCCESS)
                     {
-                        if (resultCode == (int)Common.AndroidResult.SUCCESS)
-                        {
-                            _FlipBitAndCheckPermissions(PermissionsTypes.AREA_LEARNING);
-                        } else
-                        {
-                            _PermissionWasDenied();
-                        }
-                        break;
+                        _FlipBitAndCheckPermissions(PermissionsTypes.AREA_LEARNING);
                     }
-                default:
+                    else
                     {
-                        break;
+                        _PermissionWasDenied();
                     }
+                    break;
+                }
+                default:
+                {
+                    break;
+                }
             }
             Debug.Log("Activity returned result end");
         }
@@ -850,11 +966,13 @@ private void _FlipBitAndCheckPermissions(PermissionsTypes permission)
         {
             m_requiredPermissions ^= permission;
             
-            if (m_requiredPermissions == 0) // all permissions are good!
+            if (m_requiredPermissions == 0)
             {
+                // all permissions are good!
                 Debug.Log("All permissions have been accepted!");
                 _SendPermissionEvent(true);
-            } else
+            }
+            else
             {
                 _RequestNextPermission();
             }
@@ -866,7 +984,7 @@ private void _FlipBitAndCheckPermissions(PermissionsTypes permission)
         private void _PermissionWasDenied()
         {
             m_requiredPermissions = PermissionsTypes.NONE;
-            if (m_permissionEvent != null)
+            if (PermissionEvent != null)
             {
                 _SendPermissionEvent(false);
             }
@@ -890,16 +1008,19 @@ private void _RequestNextPermission()
                 if (AndroidHelper.ApplicationHasTangoPermissions(Common.TANGO_MOTION_TRACKING_PERMISSIONS))
                 {
                     _androidOnActivityResult(Common.TANGO_MOTION_TRACKING_PERMISSIONS_REQUEST_CODE, -1, null);
-                } else
+                }
+                else
                 {
                     AndroidHelper.StartTangoPermissionsActivity(Common.TANGO_MOTION_TRACKING_PERMISSIONS);
                 }
-            } else if ((m_requiredPermissions & PermissionsTypes.AREA_LEARNING) == PermissionsTypes.AREA_LEARNING)
+            }
+            else if ((m_requiredPermissions & PermissionsTypes.AREA_LEARNING) == PermissionsTypes.AREA_LEARNING)
             {
                 if (AndroidHelper.ApplicationHasTangoPermissions(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS))
                 {
                     _androidOnActivityResult(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS_REQUEST_CODE, -1, null);
-                } else
+                }
+                else
                 {
                     AndroidHelper.StartTangoPermissionsActivity(Common.TANGO_ADF_LOAD_SAVE_PERMISSIONS);
                 }
@@ -923,9 +1044,9 @@ private void Update()
         {
             if (m_sendPermissions)
             {
-                if (m_permissionEvent != null)
+                if (PermissionEvent != null)
                 {
-                    m_permissionEvent(m_permissionsSuccessful);
+                    PermissionEvent(m_permissionsSuccessful);
                 }
                 m_sendPermissions = false;
             }
@@ -963,24 +1084,27 @@ private void OnDestroy()
         /// <summary>
         /// Interface for native function calls to Tango Service.
         /// </summary>
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         private struct TangoServiceAPI
         {
             #if UNITY_ANDROID && !UNITY_EDITOR
             [DllImport(Common.TANGO_UNITY_DLL)]
-            public static extern int TangoService_initialize (IntPtr JNIEnv, IntPtr appContext);
+            public static extern int TangoService_initialize(IntPtr jniEnv, IntPtr appContext);
             
             [DllImport(Common.TANGO_UNITY_DLL)]
-            public static extern int TangoService_connect (IntPtr callbackContext, IntPtr config);
+            public static extern int TangoService_connect(IntPtr callbackContext, IntPtr config);
             
             [DllImport(Common.TANGO_UNITY_DLL)]
-            public static extern int TangoService_disconnect ();
+            public static extern int TangoService_disconnect();
             #else
-            public static int TangoService_initialize(IntPtr JNIEnv, IntPtr appContext)
+            public static int TangoService_initialize(IntPtr jniEnv, IntPtr appContext)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
 
-            public static  int TangoService_connect(IntPtr callbackContext, IntPtr config)
+            public static int TangoService_connect(IntPtr callbackContext, IntPtr config)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs
index b2c0bb3a..e50ae856 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoConfig.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoConfig.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Collections;
 using System.Text;
@@ -23,16 +27,15 @@
 namespace Tango
 {
     /// <summary>
-    /// Functionality for interacting with the Tango Service
-    /// configuration.
+    /// C API wrapper for Tango Configuration Parameters.
     /// </summary>
-    public class TangoConfig
+    internal class TangoConfig
     {
-#region Attributes
+        #region Attributes
         /// <summary>
         /// Key/Value pairs supported by the Tango Service.
-        /// </summary>	
-        public struct Keys
+        /// </summary>
+        internal struct Keys
         {
             // Motion Tracking
             public static readonly string ENABLE_MOTION_TRACKING_BOOL = "config_enable_motion_tracking";
@@ -65,29 +68,45 @@ public struct Keys
         private static IntPtr m_tangoConfig = IntPtr.Zero;
 
         /// <summary>
-        /// Delegate definition for setting API callbacks when setting values in the Tango Config.
+        /// Delegate for internal API call that sets a config option.
+        /// 
+        /// This matches the signature of TangoConfig_setBool, TangoConfig_Double, etc. 
         /// </summary>
-        /// <param name="obj1"> The IntPtr object, usually the tango config reference.</param>
-        /// <param name="obj2"> Usually the key that we want to modify in the tango config file.</param>
-        /// <param name="obj3"> Usually the value that we want to modify for the key in the tango config file.</param>
-        /// <returns> <c> Common.ErrorType.TANGO_SUCCESS </c> if API call was successfull, 
-        /// <c> Common.ErrorType.TANGO_ERROR </c> otherwise.</returns>
-        public delegate int ConfigAPIDelegate<T>(IntPtr obj1,string obj2,T obj3);
-#endregion
+        /// <param name="obj1">C pointer to a TangoConfig.</param>
+        /// <param name="obj2">Key we want to modify.</param>
+        /// <param name="obj3">Value to set, of the correct type.</param>
+        /// <returns>
+        /// Returns TANGO_SUCCESS on success or TANGO_INVALID if config or key is NULL, or key is not found or could
+        /// not be set.
+        /// </returns>
+        private delegate int ConfigAPIDelegate<T>(IntPtr obj1, string obj2, T obj3);
+        #endregion
 
         /// <summary>
-        /// Gets the handle to the current Tango configuration.
+        /// Gets the cached C pointer to a TangoConfig.
+        /// 
+        /// This pointer is updated by calling InitConfig.
         /// </summary>
-        /// <returns> Handle to the Tango configuration.</returns>
-        public static IntPtr GetConfig()
+        /// <returns>C pointer to a Tango config.</returns>
+        internal static IntPtr GetConfig()
         {
             return m_tangoConfig;
         }
 
         /// <summary>
-        /// Fills out a given Tango configuration with the currently set configuration settings.
+        /// Update the cached C pointer to a TangoConfig.
+        /// 
+        /// This should be used to initialize a Config object for setting the configuration that TangoService should
+        /// be run in. The Config handle is passed to TangoService_connect() which starts the service running with
+        /// the parameters set at that time in that TangoConfig handle.  This function can be used to find the current
+        /// configuration of the service (i.e. what would be run if no config is specified on TangoService_connect()),
+        /// or to create one of a few "template" TangoConfigs.  The returned TangoConfig can be further modified by 
+        /// TangoConfig_set function calls.  The handle should be freed with Free().  The handle is needed 
+        /// only at the time of TangoService_connect() where it is used to configure the service, and can safely be
+        /// freed after it has been used in TangoService_connect().
         /// </summary>
-        public static void InitConfig(TangoEnums.TangoConfigType configType)
+        /// <param name="configType">The requested configuration type.</param>
+        internal static void InitConfig(TangoEnums.TangoConfigType configType)
         {
             m_tangoConfig = TangoConfigAPI.TangoService_getConfig(configType);
 
@@ -95,9 +114,11 @@ public static void InitConfig(TangoEnums.TangoConfigType configType)
         }
 
         /// <summary>
-        /// Deallocate a Tango configuration object.
+        /// Free a TangoConfig object.
+        /// 
+        /// Frees the TangoConfig object for the cached handle.
         /// </summary>
-        public static void Free()
+        internal static void Free()
         {
             if (m_tangoConfig != IntPtr.Zero)
             {
@@ -110,12 +131,13 @@ public static void Free()
         }
 
         /// <summary>
-        /// Gets a string representing the current settings
-        /// of the Tango configuration.
+        /// Gets a string of key-value pairs of all the configuration values of TangoService.
+        /// 
+        /// The string is separated into lines such that each line is one key-value pair, with format "key=value\n".  
+        /// Note that many of these config values are read-only, unless otherwise documented.
         /// </summary>
-        /// <returns> String representing the current settings.
-        /// Null if no configuration is found.</returns>
-        public static string GetSettings()
+        /// <returns>String representation of the cached configuration.</returns>
+        internal static string GetSettings()
         {
             if (m_tangoConfig != IntPtr.Zero)
             {
@@ -128,67 +150,67 @@ public static string GetSettings()
         }
 
         /// <summary>
-        /// Sets the value of a boolean key/value pair.
+        /// Set a boolean configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if bool was set, <c>false</c> otherwise.</returns>
-        /// <param name="key"> Key.</param>
-        /// <param name="value"> If set to <c>true</c> value.</param>
-        public static bool SetBool(string key, bool value)
+        /// <returns><c>true</c> on success, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to set.</param>
+        /// <param name="value">The value to set the configuration key to.</param>
+        internal static bool SetBool(string key, bool value)
         {
             return _ConfigHelperSet(new ConfigAPIDelegate<bool>(TangoConfigAPI.TangoConfig_setBool), m_tangoConfig, key, value, "SetBool");
         }
 
         /// <summary>
-        /// Sets the value of an int32 key/value pair.
+        /// Set an Int32 configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if int32 was set, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool SetInt32(string key, Int32 value)
+        /// <returns><c>true</c> on success, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to set.</param>
+        /// <param name="value">The value to set the configuration key to.</param>
+        internal static bool SetInt32(string key, Int32 value)
         {
             return _ConfigHelperSet(new ConfigAPIDelegate<Int32>(TangoConfigAPI.TangoConfig_setInt32), m_tangoConfig, key, value, "SetInt32");
         }
 
         /// <summary>
-        /// Sets the value of an int64 key/value pair.
+        /// Set an Int64 configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if int64 was set, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool SetInt64(string key, Int64 value)
+        /// <returns><c>true</c> on success, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to set.</param>
+        /// <param name="value">The value to set the configuration key to.</param>
+        internal static bool SetInt64(string key, Int64 value)
         {
             return _ConfigHelperSet(new ConfigAPIDelegate<Int64>(TangoConfigAPI.TangoConfig_setInt64), m_tangoConfig, key, value, "SetInt64");
         }
-	    
+
         /// <summary>
-        /// Sets the value of a double key/value pair.
+        /// Set a double configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if double was set, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool SetDouble(string key, double value)
+        /// <returns><c>true</c> on success, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to set.</param>
+        /// <param name="value">The value to set the configuration key to.</param>
+        internal static bool SetDouble(string key, double value)
         {
             return _ConfigHelperSet(new ConfigAPIDelegate<double>(TangoConfigAPI.TangoConfig_setDouble), m_tangoConfig, key, value, "SetDouble");
         }
-	    
+
         /// <summary>
-        /// Sets the value of a string key/value pair.
+        /// Set a string configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if string was set, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool SetString(string key, string value)
+        /// <returns><c>true</c> on success, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to set.</param>
+        /// <param name="value">The value to set the configuration key to.</param>
+        internal static bool SetString(string key, string value)
         {
             return _ConfigHelperSet(new ConfigAPIDelegate<string>(TangoConfigAPI.TangoConfig_setString), m_tangoConfig, key, value, "SetString");
         }
 
         /// <summary>
-        /// Gets the value of a bool key/value pair.
+        /// Get a boolean configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if bool was gotten, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool GetBool(string key, ref bool value)
+        /// <returns><c>true</c>, if the value was retrieved, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to get.</param>
+        /// <param name="value">On successful return, the value of the configuration key.</param>
+        internal static bool GetBool(string key, ref bool value)
         {
             bool wasSuccess = false;
             if (m_tangoConfig != IntPtr.Zero)
@@ -198,19 +220,19 @@ public static bool GetBool(string key, ref bool value)
             if (!wasSuccess)
             {
 #if UNITY_ANDROID && !UNITY_EDITOR
-            Debug.LogWarning(string.Format(m_ErrorLogFormat, "GetBool", key, false));
+                Debug.LogWarning(string.Format(m_ErrorLogFormat, "GetBool", key, false));
 #endif
             }
             return wasSuccess;
         }
-	    
+
         /// <summary>
-        /// Gets the value of an int32 kay/value pair.
+        /// Get an Int32 configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if int32 was gotten, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool GetInt32(string key, ref Int32 value)
+        /// <returns><c>true</c>, if the value was retrieved, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to get.</param>
+        /// <param name="value">On successful return, the value of the configuration key.</param>
+        internal static bool GetInt32(string key, ref Int32 value)
         {
             bool wasSuccess = false;
             if (m_tangoConfig != IntPtr.Zero)
@@ -223,14 +245,14 @@ public static bool GetInt32(string key, ref Int32 value)
             }
             return wasSuccess;
         }
-	    
+
         /// <summary>
-        /// Gets the value of an int64 key/value pair.
+        /// Get an Int64 configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if int64 was gotten, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool GetInt64(string key, ref Int64 value)
+        /// <returns><c>true</c>, if the value was retrieved, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to get.</param>
+        /// <param name="value">On successful return, the value of the configuration key.</param>
+        internal static bool GetInt64(string key, ref Int64 value)
         {
             bool wasSuccess = false;
             if (m_tangoConfig != IntPtr.Zero)
@@ -243,14 +265,14 @@ public static bool GetInt64(string key, ref Int64 value)
             }
             return wasSuccess;
         }
-	    
+
         /// <summary>
-        /// Gets the value of a double key/value pair.
+        /// Get a double configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if double was gotten, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool GetDouble(string key, ref double value)
+        /// <returns><c>true</c>, if the value was retrieved, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to get.</param>
+        /// <param name="value">On successful return, the value of the configuration key.</param>
+        internal static bool GetDouble(string key, ref double value)
         {
             bool wasSuccess = false;
             if (m_tangoConfig != IntPtr.Zero)
@@ -263,14 +285,14 @@ public static bool GetDouble(string key, ref double value)
             }
             return wasSuccess;
         }
-	    
+
         /// <summary>
-        /// Gets the value of a string key/value pair.
+        /// Get a string configuration parameter.
         /// </summary>
-        /// <returns><c>true</c>, if string was gotten, <c>false</c> otherwise.</returns>
-        /// <param name="key">Key.</param>
-        /// <param name="value">Value.</param>
-        public static bool GetString(string key, ref string value)
+        /// <returns><c>true</c>, if the value was retrieved, <c>false</c> otherwise.</returns>
+        /// <param name="key">The string key value of the configuration parameter to get.</param>
+        /// <param name="value">On successful return, the value of the configuration key.</param>
+        internal static bool GetString(string key, ref string value)
         {
             bool wasSuccess = false;
             if (m_tangoConfig != IntPtr.Zero)
@@ -292,17 +314,17 @@ public static bool GetString(string key, ref string value)
         }
 
         /// <summary>
-        /// Helper method for setting values in the Tango Config file.
+        /// Helper method for setting a configuration parameter.
         /// </summary>
         /// <returns><c>true</c> if the API call returned success, <c>false</c> otherwise.</returns>
         /// <param name="apiCall">The API call we want to perform.</param>
-        /// <param name="tangoConfig">Ptr to the current active Tango Config.</param>
-        /// <param name="configKey">The key of the config file we want to modify the value of.</param>
-        /// <param name="configValue">The new value we want to set.</param>
-        /// <param name="tangoMethodName">String representing the name of the method we are trying to call. Used for logging purposes.</param>
+        /// <param name="tangoConfig">Handle to a Tango Config.</param>
+        /// <param name="configKey">The string key value of the configuration parameter to set.</param>
+        /// <param name="configValue">The value to set the configuration key to.</param>
+        /// <param name="tangoMethodName">Name of the method we are calling. Used for logging purposes.</param>
         /// <typeparam name="T">The type of object we are trying to set.</typeparam>
-        internal static bool _ConfigHelperSet<T>(ConfigAPIDelegate<T> apiCall, IntPtr tangoConfig, string configKey, object configValue, 
-		                                    string tangoMethodName)
+        private static bool _ConfigHelperSet<T>(ConfigAPIDelegate<T> apiCall, IntPtr tangoConfig, string configKey, object configValue, 
+                                                 string tangoMethodName)
         {
             if (tangoConfig == IntPtr.Zero)
             {
@@ -329,137 +351,150 @@ internal static bool _ConfigHelperSet<T>(ConfigAPIDelegate<T> apiCall, IntPtr ta
         }
 
         /// <summary>
-        /// Interface for the Tango Service API.
+        /// DEPRECATED: Internal API, should be private.
         /// </summary>
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         internal struct TangoConfigAPI
         {
 #if UNITY_ANDROID && !UNITY_EDITOR
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern void TangoConfig_free(IntPtr tangoConfig);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern string TangoConfig_toString(IntPtr TangoConfig);
-
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_setBool(IntPtr tangoConfig,
-	                                                     [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                     bool value);
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-			public static extern IntPtr TangoService_getConfig(TangoEnums.TangoConfigType config_type);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_setInt32(IntPtr tangoConfig,
-	                                                     [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                     Int32 value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_setInt64(IntPtr tangoConfig,
-	                                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                      Int64 value);
-
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_setDouble(IntPtr tangoConfig,
-	                                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                      double value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_setString(IntPtr tangoConfig,
-	                                                       [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                       [MarshalAs(UnmanagedType.LPStr)] string value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_getBool(IntPtr tangoConfig,
-	                                                     [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                     ref bool value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_getInt32(IntPtr tangoConfig,
-	                                                     [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                     ref Int32 value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_getInt64(IntPtr tangoConfig,
-	                                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                      ref Int64 value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_getDouble(IntPtr tangoConfig,
-	                                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                      ref double value);
-	        
-	        [DllImport(Common.TANGO_UNITY_DLL)]
-	        public static extern int TangoConfig_getString(IntPtr tangoConfig,
-	                                                       [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                       [In, Out] StringBuilder value,
-	                                                       UInt32 size);
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern void TangoConfig_free(IntPtr tangoConfig);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern string TangoConfig_toString(IntPtr tangoConfig);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_setBool(IntPtr tangoConfig,
+                                                         [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                         bool value);
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern IntPtr TangoService_getConfig(TangoEnums.TangoConfigType config_type);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_setInt32(IntPtr tangoConfig,
+                                                          [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                          Int32 value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_setInt64(IntPtr tangoConfig,
+                                                          [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                          Int64 value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_setDouble(IntPtr tangoConfig,
+                                                           [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                           double value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_setString(IntPtr tangoConfig,
+                                                           [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                           [MarshalAs(UnmanagedType.LPStr)] string value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_getBool(IntPtr tangoConfig,
+                                                         [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                         ref bool value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_getInt32(IntPtr tangoConfig,
+                                                          [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                          ref Int32 value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_getInt64(IntPtr tangoConfig,
+                                                          [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                          ref Int64 value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_getDouble(IntPtr tangoConfig,
+                                                           [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                           ref double value);
+
+            [DllImport(Common.TANGO_UNITY_DLL)]
+            public static extern int TangoConfig_getString(IntPtr tangoConfig,
+                                                           [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                           [In, Out] StringBuilder value,
+                                                           UInt32 size);
 #else
             public static void TangoConfig_free(IntPtr tangoConfig)
             {
-
             }
 
             public static IntPtr TangoService_getConfig(TangoEnums.TangoConfigType config_type)
             {
                 return IntPtr.Zero;
             }
-            public static string TangoConfig_toString(IntPtr TangoConfig)
+
+            public static string TangoConfig_toString(IntPtr tangoConfig)
             {
                 return "Editor Mode";
             }
+
             public static int TangoConfig_setBool(IntPtr tangoConfig,
-			                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                              bool value)
+                                                  [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                  bool value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_setInt32(IntPtr tangoConfig,
-	                                               [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                               Int32 value)
+                                                   [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                   Int32 value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_setInt64(IntPtr tangoConfig,
-			                                       [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                               Int64 value)
+                                                   [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                   Int64 value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_setDouble(IntPtr tangoConfig,
-			                                        [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                double value)
+                                                    [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                    double value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_setString(IntPtr tangoConfig,
-			                                        [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                string value)
+                                                    [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                    string value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_getBool(IntPtr tangoConfig,
-			                                      [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                              ref bool value)
+                                                  [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                  ref bool value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_getInt32(IntPtr tangoConfig,
-			                                       [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                               ref Int32 value)
+                                                   [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                   ref Int32 value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_getInt64(IntPtr tangoConfig,
-			                                       [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                               ref Int64 value)
+                                                   [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                   ref Int64 value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_getDouble(IntPtr tangoConfig,
-			                                        [MarshalAs(UnmanagedType.LPStr)] string key,
-	                                                ref double value)
+                                                    [MarshalAs(UnmanagedType.LPStr)] string key,
+                                                    ref double value)
             {
                 return Common.ErrorType.TANGO_SUCCESS;
             }
+
             public static int TangoConfig_getString(IntPtr tangoConfig,
                                                     [MarshalAs(UnmanagedType.LPStr)] string key,
                                                     [In, Out] StringBuilder value,
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs
index 7c295be9..3af6fc60 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/TangoEvents.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoEvents.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Runtime.InteropServices;
 using UnityEngine;
@@ -20,33 +24,38 @@
 namespace Tango
 {
     /// <summary>
-    /// Wraps the interface from Tango Service to register
-    /// for callbacks that are fired on new events.
+    /// C API wrapper for the Tango events interface.
     /// </summary>
-    public class TangoEvents
+    internal class TangoEvents
     {
-        // Signature used by the onTangoEvent callback.
+        /// <summary>
+        /// Tango video overlay C callback function signature.
+        /// </summary>
+        /// <param name="callbackContext">The callback context.</param>
+        /// <param name="tangoEvent">Tango event.</param> 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void TangoService_onEventAvailable(IntPtr callbackContext, [In,Out] TangoEvent tangoEvent);
+        internal delegate void TangoService_onEventAvailable(IntPtr callbackContext, [In, Out] TangoEvent tangoEvent);
             
         /// <summary>
-        /// Sets the callback that is called when a new tango
-        /// event has been issued by the Tango Service.
+        /// Attach an onTangoEvent callback. The callback is called each time a Tango event happens.
         /// </summary>
         /// <param name="callback">Callback.</param>
-        public static void SetCallback(TangoService_onEventAvailable callback)
+        internal static void SetCallback(TangoService_onEventAvailable callback)
         {
             int returnValue = EventsAPI.TangoService_connectOnTangoEvent(callback);
             if (returnValue != Common.ErrorType.TANGO_SUCCESS)
             {
-				Debug.Log("TangoEvents.SetCallback() Callback was not set!");
+                Debug.Log("TangoEvents.SetCallback() Callback was not set!");
             }
             else
             {
-				Debug.Log("TangoEvents.SetCallback() Callback was set!");
+                Debug.Log("TangoEvents.SetCallback() Callback was set!");
             }
         }
 
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         private struct EventsAPI
         {
             #if UNITY_ANDROID && !UNITY_EDITOR
diff --git a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs
index 1de7dbd3..3d3ecfb2 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs
+++ b/UnityExamples/Assets/TangoSDK/Core/Scripts/TangoWrappers/VideoOverlayProvider.cs
@@ -1,18 +1,22 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="VideoOverlayProvider.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System;
 using System.Collections;
 using System.Collections.Generic;
@@ -22,90 +26,46 @@
 
 namespace Tango
 {
-    
     /// <summary>
-    /// Wraps separate textures for Y, U, and V planes.
+    /// C API wrapper for the Tango video overlay interface.
     /// </summary>
-    public class YUVTexture
+    public class VideoOverlayProvider
     {
         /// <summary>
-        /// The m_video overlay texture y.
-        /// Columns     1280/4 [bytes packed in RGBA channels]
-        /// Rows        720
-        /// </summary>
-        public Texture2D m_videoOverlayTextureY;
-
-        /// <summary>
-        /// The m_video overlay texture cb.
-        /// Columns     640/4 [bytes packed in RGBA channels]
-        /// Rows        360
-        /// </summary>
-        public Texture2D m_videoOverlayTextureCb;
-
-        /// <summary>
-        /// The m_video overlay texture cr.
-        /// Columns     640 * 2 / 4 [bytes packed in RGBA channels]
-        /// Rows        360
-        /// </summary>
-        public Texture2D m_videoOverlayTextureCr;
-
-        /// <summary>
-        /// Initializes a new instance of the <see cref="Tango.YUVTexture"/> class.
-        /// NOTE : Texture resolutions will be reset by the API. The sizes passed
-        /// into the constructor are not guaranteed to persist when running on device.
+        /// Tango video overlay C callback function signature.
         /// </summary>
-        /// <param name="width">Width.</param>
-        /// <param name="height">Height.</param>
-        /// <param name="format">Format.</param>
-        /// <param name="mipmap">If set to <c>true</c> mipmap.</param>
-        public YUVTexture(int yPlaneWidth, int yPlaneHeight,
-                          int uvPlaneWidth, int uvPlaneHeight,
-                          TextureFormat format, bool mipmap)
-        {
-            m_videoOverlayTextureY = new Texture2D(yPlaneWidth, yPlaneHeight, format, mipmap);
-            m_videoOverlayTextureY.filterMode = FilterMode.Point;
-            m_videoOverlayTextureCb = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap);
-            m_videoOverlayTextureCb.filterMode = FilterMode.Point;
-            m_videoOverlayTextureCr = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap);
-            m_videoOverlayTextureCr.filterMode = FilterMode.Point;
-        }
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="cameraId">Camera ID.</param>
+        /// <param name="image">Image.</param> 
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+        internal delegate void TangoService_onImageAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId, [In, Out] TangoImageBuffer image);
 
         /// <summary>
-        /// Resizes all yuv texture planes.
+        /// Experimental API only, subject to change.  Tango depth C callback function signature.
         /// </summary>
-        /// <param name="yPlaneWidth">Y plane width.</param>
-        /// <param name="yPlaneHeight">Y plane height.</param>
-        /// <param name="uvPlaneWidth">Uv plane width.</param>
-        /// <param name="uvPlaneHeight">Uv plane height.</param>
-        public void ResizeAll(int yPlaneWidth, int yPlaneHeight,
-                              int uvPlaneWidth, int uvPlaneHeight)
-        {
-            m_videoOverlayTextureY.Resize(yPlaneWidth, yPlaneHeight);
-            m_videoOverlayTextureCb.Resize(uvPlaneWidth, uvPlaneHeight);
-            m_videoOverlayTextureCr.Resize(uvPlaneWidth, uvPlaneHeight);
-        }
-    }
-
-    /// <summary>
-    /// Video Overlay Provider class provide video functions
-    /// to get frame textures.
-    /// </summary>
-    public class VideoOverlayProvider
-    {
+        /// <param name="callbackContext">Callback context.</param>
+        /// <param name="cameraId">Camera ID.</param>
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void TangoService_onImageAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId, [In,Out] TangoImageBuffer image);
-        
-        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        public delegate void TangoService_onUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId);
+        internal delegate void TangoService_onUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId);
         
         private static readonly string CLASS_NAME = "VideoOverlayProvider";
         private static IntPtr callbackContext = IntPtr.Zero;
         
         /// <summary>
-        /// Connects the texture.
+        /// Connect a Texture ID to a camera; the camera is selected by specifying a TangoCameraId.
+        /// 
+        /// Currently only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are supported. The texture must be the ID of a
+        /// texture that has been allocated and initialized by the calling application.
+        /// 
+        /// The first scan-line of the color image is reserved for metadata instead of image pixels.
         /// </summary>
-        /// <param name="cameraId">Camera identifier.</param>
-        /// <param name="textureId">Texture identifier.</param>
+        /// <param name="cameraId">
+        /// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
+        /// supported.
+        /// </param>
+        /// <param name="textureId">
+        /// The texture ID of the texture to connect the camera to. Must be a valid texture in the applicaton.
+        /// </param>
         public static void ConnectTexture(TangoEnums.TangoCameraId cameraId, int textureId)
         {
             int returnValue = VideoOverlayAPI.TangoService_connectTextureId(cameraId, textureId);
@@ -115,8 +75,29 @@ public static void ConnectTexture(TangoEnums.TangoCameraId cameraId, int texture
                 Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
             }
         }
-        
-        public static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
+
+        /// <summary>
+        /// Experimental API only, subject to change.  Connect a Texture IDs to a camera.
+        /// 
+        /// The camera is selected via TangoCameraId.  Currently only TANGO_CAMERA_COLOR is supported.  The texture
+        /// handles will be regenerated by the API on startup after which the application can use them, and will be
+        /// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighbouring pixels).
+        /// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
+        /// pack 1280x720 pixels into a 320x720 RGBA8888 texture.  texture_Cb and texture_Cr will contain copies of
+        /// the 2x2 downsampled interleaved UV planes packed similarly.  If experimental_image_pixel_format is set to
+        /// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
+        /// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.  
+        /// See YV12 and NV21 formats for details.
+        /// 
+        /// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
+        /// </summary>
+        /// <param name="cameraId">
+        /// The ID of the camera to connect this texture to.  Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
+        /// supported.
+        /// </param>
+        /// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
+        /// <param name="onUnityFrameAvailable">Callback.</param>
+        internal static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
         {
             int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(cameraId, 
                                                                                               (uint)textures.m_videoOverlayTextureY.GetNativeTextureID(), 
@@ -130,12 +111,16 @@ public static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId,
                 Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
             }
         }
-        
+
         /// <summary>
-        /// Renders the latest frame.
+        /// Update the texture that has been connected to camera referenced by TangoCameraId with the latest image
+        /// from the camera.
         /// </summary>
-        /// <returns>The latest frame timestamp.</returns>
-        /// <param name="cameraId">Camera identifier.</param>
+        /// <returns>The timestamp of the image that has been pushed to the connected texture.</returns>
+        /// <param name="cameraId">
+        /// The ID of the camera to connect this texture to.  Only <code>TANGO_CAMERA_COLOR</code> and
+        /// <code>TANGO_CAMERA_FISHEYE</code> are supported.
+        /// </param>
         public static double RenderLatestFrame(TangoEnums.TangoCameraId cameraId)
         {
             double timestamp = 0.0;
@@ -149,10 +134,15 @@ public static double RenderLatestFrame(TangoEnums.TangoCameraId cameraId)
         }
         
         /// <summary>
-        /// Get the camera/sensor intrinsics.
+        /// Get the intrinsic calibration parameters for a given camera.
+        /// 
+        /// The intrinsics are as specified by the TangoCameraIntrinsics struct.  Intrinsics are read from the
+        /// on-device intrinsics file (typically <code>/sdcard/config/calibration.xml</code>, but to ensure 
+        /// compatibility applications should only access these parameters via the API), or default internal model 
+        /// parameters corresponding to the device are used if the calibration.xml file is not found.
         /// </summary>
-        /// <param name="cameraId">Camera identifier.</param>
-        /// <param name="intrinsics">Camera intrinsics data.</param>
+        /// <param name="cameraId">The camera ID to retrieve the calibration intrinsics for.</param>
+        /// <param name="intrinsics">A TangoCameraIntrinsics filled with calibration intrinsics for the camera.</param>
         public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics)
         {
             int returnValue = VideoOverlayAPI.TangoService_getCameraIntrinsics(cameraId, intrinsics);
@@ -162,16 +152,28 @@ public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoC
                 Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!");
             }
         }
-        
+
         /// <summary>
-        /// Sets the callback for notifications when image data is ready.
+        /// Connect a callback to a camera for access to the pixels.
+        /// 
+        /// This is not recommended for display but for applications requiring access to the
+        /// <code>HAL_PIXEL_FORMAT_YV12</code> pixel data.  The camera is selected via TangoCameraId.  Currently only 
+        /// <code>TANGO_CAMERA_COLOR</code> and <code>TANGO_CAMERA_FISHEYE</code> are supported.
+        /// 
+        /// The <i>onImageAvailable</i> callback will be called when a new frame is available from the camera. The
+        /// Enable Video Overlay option must be enabled for this to succeed.
+        ///
+        /// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
         /// </summary>
-        /// <param name="cameraId">Camera identifier.</param>
-        /// <param name="onImageAvailable">On image available callback handler.</param>
-        public static void SetCallback(TangoEnums.TangoCameraId cameraId, TangoService_onImageAvailable onImageAvailable)
+        /// <param name="cameraId">
+        /// The ID of the camera to connect this texture to.  Only <code>TANGO_CAMERA_COLOR</code> and
+        /// <code>TANGO_CAMERA_FISHEYE</code> are supported.
+        /// </param>
+        /// <param name="onImageAvailable">Function called when a new frame is available from the camera.</param>
+        internal static void SetCallback(TangoEnums.TangoCameraId cameraId, TangoService_onImageAvailable onImageAvailable)
         {
             int returnValue = VideoOverlayAPI.TangoService_connectOnFrameAvailable(cameraId, callbackContext, onImageAvailable);
-            if(returnValue == Tango.Common.ErrorType.TANGO_SUCCESS)
+            if (returnValue == Tango.Common.ErrorType.TANGO_SUCCESS)
             {
                 Debug.Log(CLASS_NAME + ".SetCallback() Callback was set.");
             }
@@ -182,9 +184,9 @@ public static void SetCallback(TangoEnums.TangoCameraId cameraId, TangoService_o
         }
         
         #region NATIVE_FUNCTIONS
-        /// <summary>
-        /// Video overlay native function import.
-        /// </summary>
+        [System.Diagnostics.CodeAnalysis.SuppressMessage("StyleCop.CSharp.DocumentationRules",
+                                                         "SA1600:ElementsMustBeDocumented",
+                                                         Justification = "C API Wrapper.")]
         private struct VideoOverlayAPI
         {
             #if UNITY_ANDROID && !UNITY_EDITOR
@@ -195,7 +197,7 @@ private struct VideoOverlayAPI
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern int TangoService_connectOnFrameAvailable(TangoEnums.TangoCameraId cameraId,
                                                                           IntPtr context,
-                                                                          [In,Out] TangoService_onImageAvailable onImageAvailable);
+                                                                          [In, Out] TangoService_onImageAvailable onImageAvailable);
             [DllImport(Common.TANGO_UNITY_DLL)]
             public static extern int TangoService_updateTexture(TangoEnums.TangoCameraId cameraId, ref double timestamp);
             
@@ -228,7 +230,7 @@ public static int TangoService_getCameraIntrinsics(TangoEnums.TangoCameraId came
             
             public static int TangoService_connectOnFrameAvailable(TangoEnums.TangoCameraId cameraId,
                                                                    IntPtr context,
-                                                                   [In,Out] TangoService_onImageAvailable onImageAvailable)
+                                                                   [In, Out] TangoService_onImageAvailable onImageAvailable)
             {
                 return Tango.Common.ErrorType.TANGO_SUCCESS;
             }
@@ -246,4 +248,69 @@ public static int TangoService_Experimental_connectTextureIdUnity(TangoEnums.Tan
             #endregion
         }
     }
+
+    /// <summary>
+    /// Wraps separate textures for Y, U, and V planes.
+    /// </summary>
+    public class YUVTexture
+    {
+        /// <summary>
+        /// The m_video overlay texture y.
+        /// Columns     1280/4 [bytes packed in RGBA channels]
+        /// Rows        720
+        /// This size is for a 1280x720 screen.
+        /// </summary>
+        public Texture2D m_videoOverlayTextureY;
+        
+        /// <summary>
+        /// The m_video overlay texture cb.
+        /// Columns     640/4 [bytes packed in RGBA channels]
+        /// Rows        360
+        /// This size is for a 1280x720 screen.
+        /// </summary>
+        public Texture2D m_videoOverlayTextureCb;
+        
+        /// <summary>
+        /// The m_video overlay texture cr.
+        /// Columns     640 * 2 / 4 [bytes packed in RGBA channels]
+        /// Rows        360
+        /// This size is for a 1280x720 screen.
+        /// </summary>
+        public Texture2D m_videoOverlayTextureCr;
+        
+        /// <summary>
+        /// Initializes a new instance of the <see cref="Tango.YUVTexture"/> class.
+        /// NOTE : Texture resolutions will be reset by the API. The sizes passed
+        /// into the constructor are not guaranteed to persist when running on device.
+        /// </summary>
+        /// <param name="yPlaneWidth">Y plane width.</param>
+        /// <param name="yPlaneHeight">Y plane height.</param>
+        /// <param name="uvPlaneWidth">UV plane width.</param>
+        /// <param name="uvPlaneHeight">UV plane height.</param>
+        /// <param name="format">Format.</param>
+        /// <param name="mipmap">If set to <c>true</c> mipmap.</param>
+        public YUVTexture(int yPlaneWidth, int yPlaneHeight,
+                          int uvPlaneWidth, int uvPlaneHeight,
+                          TextureFormat format, bool mipmap)
+        {
+            m_videoOverlayTextureY = new Texture2D(yPlaneWidth, yPlaneHeight, format, mipmap);
+            m_videoOverlayTextureCb = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap);
+            m_videoOverlayTextureCr = new Texture2D(uvPlaneWidth, uvPlaneHeight, format, mipmap);
+        }
+        
+        /// <summary>
+        /// Resizes all yuv texture planes.
+        /// </summary>
+        /// <param name="yPlaneWidth">Y plane width.</param>
+        /// <param name="yPlaneHeight">Y plane height.</param>
+        /// <param name="uvPlaneWidth">Uv plane width.</param>
+        /// <param name="uvPlaneHeight">Uv plane height.</param>
+        public void ResizeAll(int yPlaneWidth, int yPlaneHeight,
+                              int uvPlaneWidth, int uvPlaneHeight)
+        {
+            m_videoOverlayTextureY.Resize(yPlaneWidth, yPlaneHeight);
+            m_videoOverlayTextureCb.Resize(uvPlaneWidth, uvPlaneHeight);
+            m_videoOverlayTextureCr.Resize(uvPlaneWidth, uvPlaneHeight);
+        }
+    }
 }
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Tango.dat b/UnityExamples/Assets/TangoSDK/Core/Tango.dat
index e4cb58ad..80235af0 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Tango.dat
+++ b/UnityExamples/Assets/TangoSDK/Core/Tango.dat
@@ -1 +1 @@
-	undefined7f7a462release-vonmises
\ No newline at end of file
+	undefined400af05release-weyl
\ No newline at end of file
diff --git a/UnityExamples/Assets/TangoSDK/Core/Tango.dat.meta b/UnityExamples/Assets/TangoSDK/Core/Tango.dat.meta
index 17288c6e..fddac95d 100644
--- a/UnityExamples/Assets/TangoSDK/Core/Tango.dat.meta
+++ b/UnityExamples/Assets/TangoSDK/Core/Tango.dat.meta
@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 4c32e35ac7ec74461a887d63a617d537
+guid: ea270c395b242406694304142de3d5a9
 DefaultImporter:
   userData: 
   assetBundleName: 
diff --git a/UnityExamples/Assets/TangoSDK/Editor.meta b/UnityExamples/Assets/TangoSDK/Editor.meta
index c5ac9dc2..066a5fba 100644
--- a/UnityExamples/Assets/TangoSDK/Editor.meta
+++ b/UnityExamples/Assets/TangoSDK/Editor.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: 78f7df302e5d14d179d4c2a81857cab4
 folderAsset: yes
-timeCreated: 1440434026
+timeCreated: 1441729896
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/Editor/TangoInspector.cs b/UnityExamples/Assets/TangoSDK/Editor/TangoInspector.cs
index 0730ca1b..ef88ba1d 100644
--- a/UnityExamples/Assets/TangoSDK/Editor/TangoInspector.cs
+++ b/UnityExamples/Assets/TangoSDK/Editor/TangoInspector.cs
@@ -1,35 +1,34 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoInspector.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
 using UnityEditor;
 using UnityEngine;
 using Tango;
 
+/// <summary>
+/// Custom editor for the TangoApplication.
+/// </summary>
 [CustomEditor(typeof(TangoApplication))]
 public class TangoInspector : Editor
 {
-    TangoApplication m_tangoApplication;
-
-    /// <summary>
-    /// Raises the enable event.
-    /// </summary>
-    private void OnEnable()
-    {
-        m_tangoApplication = (TangoApplication)target;
-    }
+    private TangoApplication m_tangoApplication;
 
     /// <summary>
     /// Raises the inspector GUI event.
@@ -46,6 +45,14 @@ public override void OnInspectorGUI()
         }
     }
 
+    /// <summary>
+    /// Raises the enable event.
+    /// </summary>
+    private void OnEnable()
+    {
+        m_tangoApplication = (TangoApplication)target;
+    }
+
     /// <summary>
     /// Draw motion tracking options.
     /// </summary>
@@ -59,7 +66,7 @@ private void _DrawMotionTrackingOptions(TangoApplication tangoApplication)
             EditorGUI.indentLevel++;
             tangoApplication.m_motionTrackingAutoReset = EditorGUILayout.Toggle("Auto Reset", 
                                                                                 tangoApplication.m_motionTrackingAutoReset);
-			
+
             tangoApplication.m_enableAreaLearning = EditorGUILayout.Toggle("Area Learning", 
                                                                            tangoApplication.m_enableAreaLearning);
             if (tangoApplication.m_enableAreaLearning)
diff --git a/UnityExamples/Assets/TangoSDK/Editor/TangoMenu.cs b/UnityExamples/Assets/TangoSDK/Editor/TangoMenu.cs
index e97da219..145827a4 100644
--- a/UnityExamples/Assets/TangoSDK/Editor/TangoMenu.cs
+++ b/UnityExamples/Assets/TangoSDK/Editor/TangoMenu.cs
@@ -1,34 +1,38 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoMenu.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+using System.Collections;
 using UnityEngine;
 using UnityEditor;
-using System.Collections;
 
 /// <summary>
 /// Tango developer tools menu.
 /// </summary>
 public class TangoMenu
 {
-	/// <summary>
-	/// Opens the default web browser and navigates to the
-	/// Tango developer page.
-	/// </summary>
-	[MenuItem("Tango/Documentation")]
-	public static void ShowDocumentation()
-	{
-		Application.OpenURL("https://developers.google.com/project-tango/developer-overview");
-	}
+    /// <summary>
+    /// Opens the default web browser and navigates to the
+    /// Tango developer page.
+    /// </summary>
+    [MenuItem("Tango/Documentation")]
+    public static void ShowDocumentation()
+    {
+        Application.OpenURL("https://developers.google.com/project-tango/developer-overview");
+    }
 }
diff --git a/UnityExamples/Assets/TangoSDK/Editor/TangoSDKAbout.cs b/UnityExamples/Assets/TangoSDK/Editor/TangoSDKAbout.cs
index c3819c81..bed0d45e 100644
--- a/UnityExamples/Assets/TangoSDK/Editor/TangoSDKAbout.cs
+++ b/UnityExamples/Assets/TangoSDK/Editor/TangoSDKAbout.cs
@@ -1,74 +1,78 @@
-/*
- * Copyright 2014 Google Inc. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
+//-----------------------------------------------------------------------
+// <copyright file="TangoSDKAbout.cs" company="Google">
+//
+// Copyright 2015 Google Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
 using System.Collections;
+using System.IO;
 using UnityEditor;
 using UnityEngine;
-using System.IO;
 
 /// <summary>
 /// Tango SDK about window.
 /// </summary>
 public class TangoSDKAbout : EditorWindow
 {
-	public static readonly string TANGO_VERSION_DATA_PATH = "/TangoSDK/Core/Tango.dat";
-	public string m_branch = string.Empty;
-	public string m_versionTag = string.Empty;
-	public string m_gitHash = string.Empty;
-	public bool m_validData = false;
+    public static readonly string TANGO_VERSION_DATA_PATH = "/TangoSDK/Core/Tango.dat";
+    public string m_branch = string.Empty;
+    public string m_versionTag = string.Empty;
+    public string m_gitHash = string.Empty;
+    public bool m_validData = false;
 
-	/// <summary>
-	/// Show the About Tango Window
-	/// </summary>
-	[MenuItem("Tango/About SDK")]
-	public static void GetSDKVersion()
-	{
-		EditorWindow thisWindow = EditorWindow.GetWindow(typeof(TangoSDKAbout));
+    /// <summary>
+    /// Show the About Tango Window.
+    /// </summary>
+    [MenuItem("Tango/About SDK")]
+    public static void GetSDKVersion()
+    {
+        EditorWindow thisWindow = EditorWindow.GetWindow(typeof(TangoSDKAbout));
 
-		((TangoSDKAbout)thisWindow).ReadVersionFile();
-	}
+        ((TangoSDKAbout)thisWindow).ReadVersionFile();
+    }
 
-	/// <summary>
-	/// Reads the version file.
-	/// </summary>
-	public void ReadVersionFile()
-	{
-		if(File.Exists(Application.dataPath + TANGO_VERSION_DATA_PATH))
-		{
-			BinaryReader binaryReader = new BinaryReader(File.Open(Application.dataPath + TANGO_VERSION_DATA_PATH, FileMode.Open));
-			m_versionTag = binaryReader.ReadString();
-			m_gitHash = binaryReader.ReadString();
-			m_branch = binaryReader.ReadString();
-			m_validData = true;
+    /// <summary>
+    /// Reads the version file.
+    /// </summary>
+    public void ReadVersionFile()
+    {
+        if (File.Exists(Application.dataPath + TANGO_VERSION_DATA_PATH))
+        {
+            BinaryReader binaryReader = new BinaryReader(File.Open(Application.dataPath + TANGO_VERSION_DATA_PATH, FileMode.Open));
+            m_versionTag = binaryReader.ReadString();
+            m_gitHash = binaryReader.ReadString();
+            m_branch = binaryReader.ReadString();
+            m_validData = true;
         }
     }
 
-	/// <summary>
-	/// Raises the GU event.
-	/// </summary>
-	void OnGUI()
-	{
-		if(m_validData)
-		{
-			EditorGUILayout.LabelField("Version: ", m_versionTag);
-			EditorGUILayout.LabelField("Branch: ", m_branch);
-			EditorGUILayout.LabelField("Hash: ", m_gitHash);
-		}
-		else
-		{
-			EditorGUILayout.LabelField("Version data not found");
-		}
-	}
+    /// <summary>
+    /// Raises the GU event.
+    /// </summary>
+    public void OnGUI()
+    {
+        if (m_validData)
+        {
+            EditorGUILayout.LabelField("Version: ", m_versionTag);
+            EditorGUILayout.LabelField("Branch: ", m_branch);
+            EditorGUILayout.LabelField("Hash: ", m_gitHash);
+        }
+        else
+        {
+            EditorGUILayout.LabelField("Version data not found");
+        }
+    }
 }
diff --git a/UnityExamples/Assets/TangoSDK/TangoUX.meta b/UnityExamples/Assets/TangoSDK/TangoUX.meta
index 1099a9f4..4204139c 100644
--- a/UnityExamples/Assets/TangoSDK/TangoUX.meta
+++ b/UnityExamples/Assets/TangoSDK/TangoUX.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: ab41d32a0a64440748e605a044b13387
 folderAsset: yes
-timeCreated: 1440434055
+timeCreated: 1442017923
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts.meta b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts.meta
index b2e9da75..36d5e584 100644
--- a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts.meta
+++ b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: dd9505c88c48745c8bc7a16f712938f5
 folderAsset: yes
-timeCreated: 1440434055
+timeCreated: 1442017923
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Common.meta b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Common.meta
index 49267f5f..7378c305 100644
--- a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Common.meta
+++ b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Common.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: e29d70e17a9154895b257ee30b296791
 folderAsset: yes
-timeCreated: 1440434055
+timeCreated: 1442017923
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Interfaces.meta b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Interfaces.meta
index d18ee6fe..91c58181 100644
--- a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Interfaces.meta
+++ b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Interfaces.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: 8c7c0ebacfab24a0cbe5503a4bc5fa07
 folderAsset: yes
-timeCreated: 1440434055
+timeCreated: 1442017923
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Listeners.meta b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Listeners.meta
index 42701a6c..e063e8f4 100644
--- a/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Listeners.meta
+++ b/UnityExamples/Assets/TangoSDK/TangoUX/Scripts/Listeners.meta
@@ -1,7 +1,7 @@
 fileFormatVersion: 2
 guid: acb9e1dbfe50d40808cb4061f03790d9
 folderAsset: yes
-timeCreated: 1440434055
+timeCreated: 1442017923
 licenseType: Pro
 DefaultImporter:
   userData: 
diff --git a/UnityExamples/ProjectSettings/ProjectSettings.asset b/UnityExamples/ProjectSettings/ProjectSettings.asset
index 6c3613c5..444914a0 100644
--- a/UnityExamples/ProjectSettings/ProjectSettings.asset
+++ b/UnityExamples/ProjectSettings/ProjectSettings.asset
@@ -72,14 +72,14 @@ PlayerSettings:
     16:9: 1
     Others: 1
   bundleIdentifier: com.projecttango.unityexamples
-  bundleVersion: 1.21
+  bundleVersion: 1.22
   preloadedAssets: []
   metroEnableIndependentInputSource: 0
   metroEnableLowLatencyPresentationAPI: 0
   xboxOneDisableKinectGpuReservation: 0
   virtualRealitySupported: 0
   productGUID: c6391136f507d40acbbba7382166aeb8
-  AndroidBundleVersionCode: 21
+  AndroidBundleVersionCode: 22
   AndroidMinSdkVersion: 17
   AndroidPreferredInstallLocation: 1
   aotOptions: 
@@ -151,7 +151,10 @@ PlayerSettings:
       m_Size: 48
     - m_Icon: {fileID: 2800000, guid: 87944d11c2cdb43679e685502eff846c, type: 3}
       m_Size: 36
-  m_BuildTargetBatching: []
+  m_BuildTargetBatching:
+  - m_BuildTarget: Android
+    m_StaticBatching: 1
+    m_DynamicBatching: 0
   m_BuildTargetGraphicsAPIs:
   - m_BuildTarget: AndroidPlayer
     m_APIs: 08000000