Cleanup for coding standard fix bug in creation of plane from points
- cleaned up code to match HiFi Coding standard
- fixed bug in creation of plane related to cross product
fix bug in definition of frustum planes, and general code cleanup
- Fixed bug in definition of frustum planes, namely making sure the points are
  given in the correct order so that our plane normals point in correct direction
- general code cleanup to match coding standard
Changed false colorization to use point in frustum for now, since that works