Plotting a plane given either two vectors or normal

[ekmungi]

Hi,
I would like to extend my appreciation for the work from the developers in this library. Thank you!

Is there already a function that can plot a plane given either two vectors or a normal in pytransform3d?

Thanks.
Anant.

[AlexanderFabisch]

Hi @ekmungi

I would like to extend my appreciation for the work from the developers in this library. Thank you!

Thanks!

Is there already a function that can plot a plane given either two vectors or a normal in pytransform3d?

It's not in this library, but I have a function for Open3D's visualizer in an internal library (see below). If you need something for matplotlib, it should be easy to rewrite. In order to integrate this function in pytransform3d, we would need a corresponding Plane class, which is a subclass of the Artist base class.

import numpy as np
import open3d as o3d
import pytransform3d.rotations as pr


def plot_plane(figure, normal, d=None, point_in_plane=None, scale=1.0,
               c=(0.5, 0.5, 0.5)):
    """Visualize plane in Hesse normal form.

    Parameters
    ----------
    figure : pytransform3d.visualizer.Figure
        Figure.

    normal : array-like, shape (3,)
        Plane normal.

    d : float, optional (default: None)
        Distance to origin in Hesse normal form.

    point_in_plane : array-like, shape (3,), optional (default: None)
        Point in plane.

    scale : float, optional (default: 1)
        Scale of visualized plane.

    c : array-like, shape (3,)
        Color as RGB. Values have to be between 0 and 1.
    """
    if point_in_plane is None:
        assert d is not None
        point_in_plane = d * normal
    x_axis, y_axis = pr.plane_basis_from_normal(normal)
    vertices = np.array([
        point_in_plane + scale * x_axis + scale * y_axis,
        point_in_plane - scale * x_axis + scale * y_axis,
        point_in_plane + scale * x_axis - scale * y_axis,
        point_in_plane - scale * x_axis - scale * y_axis,
    ])
    triangles = np.array([
        [0, 1, 2],
        [1, 3, 2],
        [2, 1, 0],
        [2, 3, 1],
    ])
    mesh = o3d.geometry.TriangleMesh(
        o3d.utility.Vector3dVector(vertices),
        o3d.utility.Vector3iVector(triangles))
    mesh.compute_vertex_normals()
    mesh.paint_uniform_color(c)
    figure.add_geometry(mesh)

[AlexanderFabisch]

Since pytransform3d 1.13.0, there is the function Figure.plot_plane (documentation)

[ekmungi]

Thank you . Perfect!