Hello, I'm not experienced with PCL but to detect planes (for object recognition) I've used in the past: http://wiki.ros.org/tabletop_object_detector But I don't know if it will give you straight away the normals. I don't remember what it returns, even tho you can see the planes in Rviz. If you are also inexperienced in PCL and ROS, there is a GitHub repo with a nice writing and sample code on how to do stuff with PCL and ROS here: https://github.com/ritwik1993/pcl_495 And the PCL docs have an article about finding normals: http://pointclouds.org/documentation/tutorials/normal_estimation.php Good luck. --- [Visit Topic](https://discourse.ros.org/t/normal-of-pointcloud2/3314/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: