cpp_plane_fitting_example/app/src/main/jni/plane_fitting_application.cc
glm::mat4 ProjectionMatrixForCameraIntrinsics(
    const TangoCameraIntrinsics& intrinsics, float near, float far) {
  // Adjust camera intrinsics according to rotation
  double cx = intrinsics.cx;
  double cy = intrinsics.cy;
  double width = intrinsics.width;
  double height = intrinsics.height;
  double fx = intrinsics.fx;
  double fy = intrinsics.fy;

  return tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
      width, height, fx, fy, cx, cy, near, far);
}
/**
 * Create an OpenGL perspective matrix from window size, camera intrinsics,
 * and clip settings.
 */
Create an OpenGL perspective matrix from window size, camera intrinsics,
and clip settings.
Create an OpenGL perspective matrix from window size camera intrinsics and clip settings .
glm::mat4 ProjectionMatrixForCameraIntrinsics(
    const TangoCameraIntrinsics& intrinsics, float near, float far) {
  double cx = intrinsics.cx;
  double cy = intrinsics.cy;
  double width = intrinsics.width;
  double height = intrinsics.height;
  double fx = intrinsics.fx;
  double fy = intrinsics.fy;
  return tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
      width, height, fx, fy, cx, cy, near, far);
}
glm :: mat4 ProjectionMatrixForCameraIntrinsics ( const TangoCameraIntrinsics & intrinsics , float near , float far ) { double cx = intrinsics . cx ; double cy = intrinsics . cy ; double width = intrinsics . width ; double height = intrinsics . height ; double fx = intrinsics . fx ; double fy = intrinsics . fy ; return tango_gl :: Camera :: ProjectionMatrixForCameraIntrinsics ( width , height , fx , fy , cx , cy , near , far ) ; }
Create an OpenGL perspective matrix from window size, camera intrinsics,
 and clip settings.
Create an OpenGL perspective matrix from window size camera intrinsics and clip settings .
// Adjust camera intrinsics according to rotation