main/src/georegression/geometry/UtilPlane3D_F64.java
public static PlaneNormal3D_F64 convert( Se3_F64 planeToWorld , PlaneNormal3D_F64 output ) {
		if( output == null )
			output = new PlaneNormal3D_F64();

		// the value of input is a vector normal to the plane and a point on the plane.
		output.n.x = planeToWorld.R.unsafe_get(0,2);
		output.n.y = planeToWorld.R.unsafe_get(1,2);
		output.n.z = planeToWorld.R.unsafe_get(2,2);

		output.p.set(planeToWorld.T.x,planeToWorld.T.y,planeToWorld.T.z);

		return output;
	}
public static PlaneNormal3D_F64 convert( Se3_F64 planeToWorld , PlaneNormal3D_F64 output ) {
		if( output == null )
			output = new PlaneNormal3D_F64();

		// the value of input is a vector normal to the plane and a point on the plane.
		output.n.x = planeToWorld.R.unsafe_get(0,2);
		output.n.y = planeToWorld.R.unsafe_get(1,2);
		output.n.z = planeToWorld.R.unsafe_get(2,2);

		output.p.set(planeToWorld.T.x,planeToWorld.T.y,planeToWorld.T.z);

		return output;
	}
Defines a plane using a 3D rigid body transform. +z is the 3rd column the rotation matrix. The plane's
point is the translation. The plane reference frame is the x-y plane.
@param planeToWorld (Input) SE3 transform from the plane into the "world" frame.
@param output (Output) Plane
@return Plane