Region Growing with a seed

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Region Growing with a seed

Hello everybody.
I was wondering if you knew a way to help me.
My goal is to pick a seed (a point from the pointcloud), and then do a region growing around this point to find all the points that are included into the same plane as this points, th result should be a square or a rectangle of points. Then I would like to get the four vertex of this square/rectangle.

I searched at Region Growing, but can't find a way to do an input.
I created a way to look if a point is on the plane created by the seed and several points around, but i'm pretty sure the algorithm that will look vertex per vertex if it is on the plane will be too expensive in time...

If someone can help me, just give me a tip, an idea?

Thanks for all!