Segmentation of planes with any orientation

[IoannisDadiotis]

Hi,

I was wondering if it is possible to use the plane segmentation node for extracting planes of whichever orientation? It seems that currently the library is focused on planes that are close to horizontal (since grid maps are 2.5 D). Do you think it would be possible to extend this for planes that are far from the horizontal orientation (e.g. vertical or close to vertical)? If yes, what would be the way to go for this?

Thanks