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diff --git a/platform_tools/android/apps/arcore/src/main/cpp/util.h b/platform_tools/android/apps/arcore/src/main/cpp/util.h
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+/*
+ * Copyright 2017 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.
+ */
+
+#ifndef C_ARCORE_HELLOE_AR_UTIL_H_
+#define C_ARCORE_HELLOE_AR_UTIL_H_
+
+#include <GLES2/gl2.h>
+#include <GLES2/gl2ext.h>
+#include <android/asset_manager.h>
+#include <android/log.h>
+#include <errno.h>
+#include <jni.h>
+#include <cstdint>
+#include <cstdlib>
+#include <vector>
+#include <SkMatrix44.h>
+
+#include "arcore_c_api.h"
+#include "glm.h"
+
+#ifndef LOGI
+#define LOGI(...) \
+  __android_log_print(ANDROID_LOG_INFO, "hello_ar_example_c", __VA_ARGS__)
+#endif  // LOGI
+
+#ifndef LOGE
+#define LOGE(...) \
+  __android_log_print(ANDROID_LOG_ERROR, "hello_ar_example_c", __VA_ARGS__)
+#endif  // LOGE
+
+#ifndef CHECK
+#define CHECK(condition)                                                   \
+  if (!(condition)) {                                                      \
+    LOGE("*** CHECK FAILED at %s:%d: %s", __FILE__, __LINE__, #condition); \
+    abort();                                                               \
+  }
+#endif  // CHECK
+
+namespace hello_ar {
+    // Utilities
+    namespace util {
+
+        // Provides a scoped allocated instance of Anchor.
+        // Can be treated as an ArAnchor*.
+        class ScopedArPose {
+        public:
+            explicit ScopedArPose(const ArSession *session) {
+                ArPose_create(session, nullptr, &pose_);
+            }
+
+            ~ScopedArPose() { ArPose_destroy(pose_); }
+
+            ArPose *GetArPose() { return pose_; }
+
+            // Delete copy constructors.
+            ScopedArPose(const ScopedArPose &) = delete;
+
+            void operator=(const ScopedArPose &) = delete;
+
+        private:
+            ArPose *pose_;
+        };
+
+        /* GL Utils */
+        // Check GL error, and abort if an error is encountered.
+        //
+        // @param operation, the name of the GL function call.
+        void CheckGlError(const char *operation);
+
+        // Create a shader program ID.
+        //
+        // @param vertex_source, the vertex shader source.
+        // @param fragment_source, the fragment shader source.
+        // @return
+        GLuint CreateProgram(const char *vertex_source, const char *fragment_source);
+
+        // Load png file from assets folder and then assign it to the OpenGL target.
+        // This method must be called from the renderer thread since it will result in
+        // OpenGL calls to assign the image to the texture target.
+        //
+        // @param target, openGL texture target to load the image into.
+        // @param path, path to the file, relative to the assets folder.
+        // @return true if png is loaded correctly, otherwise false.
+        bool LoadPngFromAssetManager(int target, const std::string &path);
+
+
+        /* ARCore utils */
+        void GetTransformMatrixFromPose(ArSession *ar_session, const ArPose *ar_pose, glm::mat4 *out_model_mat);
+
+        // Get the plane's normal from center pose.
+        glm::vec3 GetPlaneNormal(const ArSession *ar_session, const ArPose &plane_pose);
+
+        // Calculate the normal distance to plane from cameraPose, the given planePose
+        // should have y axis parallel to plane's normal, for example plane's center
+        // pose or hit test pose.
+        float CalculateDistanceToPlane(const ArSession *ar_session, const ArPose &plane_pose, const ArPose &camera_pose);
+
+        // Outputs the camera rotation using display orientation
+        glm::mat4 GetCameraRotationMatrix(float cameraOutRaw[]);
+
+        // Computes camera position and orientation (using GetCameraRotationMatrix)
+        void GetCameraInfo(ArSession* arSession, ArFrame* arFrame, glm::vec3& cameraPos, glm::mat4& cameraRotation);
+
+        /* Matrix conversion */
+        SkMatrix44 GlmMatToSkMat(const glm::mat4 m);
+        glm::mat4 SkMatToGlmMat(const SkMatrix44 m);
+
+        /* Logging utils */
+        //Row major output
+        void Log4x4Matrix(float raw_matrix[16]);
+
+        //Column major output
+        void LogGlmMat(glm::mat4 m, char *type);
+        void LogSkMat44(SkMatrix44 m, char *type);
+        void LogSkMat(SkMatrix m, char *type);
+        void LogOrientation(float rotationDirection, float angleRad, char *type);
+
+        /* Vector ops */
+        float Dot(glm::vec3 u, glm::vec3 v);
+        float Magnitude(glm::vec3 u);
+        float AngleRad(glm::vec3 u, glm::vec3 v);
+        glm::vec3 ProjectOntoPlane(glm::vec3 in, glm::vec3 normal);
+    }  // namespace util
+}  // namespace hello_ar
+
+#endif  // C_ARCORE_HELLOE_AR_UTIL_H_