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This is pretty old, but since I was looking for an answer on a similar topic, here is your solution.

std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions;

The regions are not actual points but only sort of a boundary. If you want XYZ you need to use the other overload of the segmentAndRefine option.

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