main/src/georegression/geometry/UtilPlane3D_F64.java
public static Se3_F64 planeToWorld( PlaneGeneral3D_F64 plane , Se3_F64 planeToWorld ) {
		if( planeToWorld == null )
			planeToWorld = new Se3_F64();

		Vector3D_F64 axisZ = new Vector3D_F64(plane.A,plane.B,plane.C);

		axisZ.normalize();
		Vector3D_F64 axisX = new Vector3D_F64();
		Vector3D_F64 axisY = new Vector3D_F64();
		UtilPlane3D_F64.selectAxis2D(axisZ,axisX,axisY);

		return planeToWorld(plane,axisX,axisY,axisZ,planeToWorld);
	}
public static Se3_F64 planeToWorld( PlaneGeneral3D_F64 plane , Se3_F64 planeToWorld ) {
		if( planeToWorld == null )
			planeToWorld = new Se3_F64();

		Vector3D_F64 axisZ = new Vector3D_F64(plane.A,plane.B,plane.C);

		axisZ.normalize();
		Vector3D_F64 axisX = new Vector3D_F64();
		Vector3D_F64 axisY = new Vector3D_F64();
		UtilPlane3D_F64.selectAxis2D(axisZ,axisX,axisY);

		return planeToWorld(plane,axisX,axisY,axisZ,planeToWorld);
	}
public static Se3_F64 planeToWorld ( PlaneGeneral3D_F64 plane , Se3_F64 planeToWorld ) { if ( planeToWorld == null ) planeToWorld = new Se3_F64 ( ) ; Vector3D_F64 axisZ = new Vector3D_F64 ( plane . A , plane . B , plane . C ) ; axisZ . normalize ( ) ; Vector3D_F64 axisX = new Vector3D_F64 ( ) ; Vector3D_F64 axisY = new Vector3D_F64 ( ) ; UtilPlane3D_F64 . selectAxis2D ( axisZ , axisX , axisY ) ; return planeToWorld ( plane , axisX , axisY , axisZ , planeToWorld ) ; }
Creates a transform from the plane's reference frame into world's reference frame.  The z-axis is set to the
plane's normal and the x-axis and y-axis are arbitrarily choosen.  Points which lie along the plane will
lie along its x-y plane.

@param plane Plane
@param planeToWorld (Optional) storage for the planeToWorld transform.  Can be null.
@return Transform from planeToWorld
Creates a transform from the plane s reference frame into world s reference frame . The z - axis is set to the plane s normal and the x - axis and y - axis are arbitrarily choosen . Points which lie along the plane will lie along its x - y plane .