[ros-users] [Discourse.ros.org] Normal of pointcloud2

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.





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