diff --git a/.gitignore b/.gitignore
index ffb5d8d44..0e2246174 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,3 +35,6 @@ pip-log.txt
 
 # Vim
 *.sw[op]
+
+# PyCharm
+.idea/
diff --git a/pcl/pxi/Segmentation/Segmentation.pxi b/pcl/pxi/Segmentation/Segmentation.pxi
index cb1ef0730..29a7bf393 100644
--- a/pcl/pxi/Segmentation/Segmentation.pxi
+++ b/pcl/pxi/Segmentation/Segmentation.pxi
@@ -43,10 +43,29 @@ cdef class Segmentation:
         self.me.setDistanceThreshold (d)
 
 
-    def set_MaxIterations(self, int count):
+    def set_max_iterations(self, int count):
         self.me.setMaxIterations (count)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZI:
     """
     Segmentation class for Sample Consensus methods and models
@@ -83,6 +102,25 @@ cdef class Segmentation_PointXYZI:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGB:
     """
     Segmentation class for Sample Consensus methods and models
@@ -119,6 +157,25 @@ cdef class Segmentation_PointXYZRGB:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGBA:
     """
     Segmentation class for Sample Consensus methods and models
@@ -155,3 +212,22 @@ cdef class Segmentation_PointXYZRGBA:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
diff --git a/pcl/pxi/Segmentation/Segmentation_172.pxi b/pcl/pxi/Segmentation/Segmentation_172.pxi
index 299af5e92..d442a3624 100644
--- a/pcl/pxi/Segmentation/Segmentation_172.pxi
+++ b/pcl/pxi/Segmentation/Segmentation_172.pxi
@@ -43,10 +43,29 @@ cdef class Segmentation:
         self.me.setDistanceThreshold (d)
 
 
-    def set_MaxIterations(self, int count):
+    def set_max_iterations(self, int count):
         self.me.setMaxIterations (count)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZI:
     """
     Segmentation class for Sample Consensus methods and models
@@ -83,6 +102,25 @@ cdef class Segmentation_PointXYZI:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGB:
     """
     Segmentation class for Sample Consensus methods and models
@@ -119,6 +157,25 @@ cdef class Segmentation_PointXYZRGB:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGBA:
     """
     Segmentation class for Sample Consensus methods and models
@@ -155,3 +212,21 @@ cdef class Segmentation_PointXYZRGBA:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
diff --git a/pcl/pxi/Segmentation/Segmentation_180.pxi b/pcl/pxi/Segmentation/Segmentation_180.pxi
index b7134cbc9..f76745762 100644
--- a/pcl/pxi/Segmentation/Segmentation_180.pxi
+++ b/pcl/pxi/Segmentation/Segmentation_180.pxi
@@ -43,10 +43,29 @@ cdef class Segmentation:
         self.me.setDistanceThreshold (d)
 
 
-    def set_MaxIterations(self, int count):
+    def set_max_iterations(self, int count):
         self.me.setMaxIterations (count)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZI:
     """
     Segmentation class for Sample Consensus methods and models
@@ -83,6 +102,25 @@ cdef class Segmentation_PointXYZI:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGB:
     """
     Segmentation class for Sample Consensus methods and models
@@ -119,6 +157,24 @@ cdef class Segmentation_PointXYZRGB:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setEpsAngle (ea)
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+
+
 cdef class Segmentation_PointXYZRGBA:
     """
     Segmentation class for Sample Consensus methods and models
@@ -155,3 +211,21 @@ cdef class Segmentation_PointXYZRGBA:
         self.me.setDistanceThreshold (d)
 
 
+    def set_eps_angle(self, double ea):
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setEpsAngle (ea)
+
+
+    def get_eps_angle(self):
+        return (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getEpsAngle()
+
+
+    def set_axis(self, double ax1, double ax2, double ax3):
+        cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
+        (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setAxis(deref(vec))
+
+
+    def get_axis(self):
+        vec = (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getAxis()
+        cdef float *data = vec.data()
+        return np.array([data[0], data[1], data[2]], dtype=np.float32)
+