# NormalEstimation for 2D point cloud

Hi,

Is there a way to estimate normals for a 2D point cloud (XY plane & *Unorganized
point cloud*) . To give a small background the point cloud is formed from
Laser scan messages using laser_geometry package.

As per the PCL documentation, it try to fit a plane and estimate the normal but in my case all the points are present in a plane. So is there a way to find the normal lying the same 2D plane. Some thing like fitting a line and finding the norm.

Thank you.