We have built an Android application for real-time 3D mapping. The current version of the application is compatible with the Lenovo Phab 2 Pro equipped with Google Tango. Compatibility for the RealSense ZR300 and Joule 570x is in development. For a demonstration of the application, please see the link below.
We are also developing a VR point cloud viewer for the HTC Vive that allows you to explore the maps you create in VR. We will also have large scale environments that have been mapped and allow people to explore these in VR. Point clouds intrinsically lend themselves to VR given their 3D nature. Current tools for viewing and manipulating point clouds are predominantly 2D. VR with positional tracking provides a more intuitive way to view and manipulate point clouds.