Do you have an example code (e.g. a unit test) that calls this function? The ```point3d* normals``` is not really clear - who allocates that array, should I do that before calling? For this reason we tried to avoid return-by-pointer in OctoMap. Better would be to return a std::vector of normals, or is it always the same size? An alternative would be a return-by-reference to a vector of normals.