# Fast_Plane_Detection how to get equation of plane [closed]

Hi

I am using the following package http://www.ros.org/wiki/fast_plane_detection

I have got the package to run and I visualization of the a detected plane being displayed on RVIZ.

However i need the equation of the plane with respect to the body coordinate frame and i have no idea how to do this, page mentions that it will give the parameters that define the plane but i am not sure which coordinate system is used to define the plane equation...