diff --git a/include/tos_supervoxels_alg.h b/include/tos_supervoxels_alg.h
index b7919fc58ff82b3f71dbe4b48cd3213795a268e8..074022a2e0db31de10b9b8bff8a955b56e4fd063 100644
--- a/include/tos_supervoxels_alg.h
+++ b/include/tos_supervoxels_alg.h
@@ -201,6 +201,8 @@ class TosSupervoxelsAlgorithm
     */
     std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > get_segmented_objects_simple();
 
+    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr get_plane_cloud();
+
     /*! \brief Print the parameters of the algorithm in the shell
     */
     void print_parameters();
diff --git a/src/tos_supervoxels_alg.cpp b/src/tos_supervoxels_alg.cpp
index 9eed65d5600cdd7da09e90b6f67fb168c98f70a1..ca375cadb9582a4338f0070be15e2db14b50c1ed 100644
--- a/src/tos_supervoxels_alg.cpp
+++ b/src/tos_supervoxels_alg.cpp
@@ -62,6 +62,11 @@ std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > TosSupervoxelsAlgorithm::get_se
   return this->obj_segment.get_segmented_objects_simple();
 }
 
+pcl::PointCloud<pcl::PointXYZRGBA>::Ptr TosSupervoxelsAlgorithm::get_plane_cloud()
+{
+  return this->obj_segment.get_plane_cloud();
+}
+
 void TosSupervoxelsAlgorithm::print_parameters()
 {
   this->obj_segment.print_parameters();
diff --git a/src/tos_supervoxels_alg_node.cpp b/src/tos_supervoxels_alg_node.cpp
index 389ab234f2128c1b9e3ec812b7909aa4f206096f..dcc9fe5f742e01f0dfa6628b13ca0b8acf851525 100644
--- a/src/tos_supervoxels_alg_node.cpp
+++ b/src/tos_supervoxels_alg_node.cpp
@@ -119,7 +119,8 @@ bool TosSupervoxelsAlgNode::object_segmentationCallback(iri_tos_supervoxels::obj
   }
   res.objects = seg_objs_msg; 
 
-
+  // get the table point cloud
+  pcl::toROSMsg(*(this->alg_.get_plane_cloud()),res.plane_cloud);
 
   //unlock previously blocked shared variables
   this->object_segmentation_mutex_exit();
diff --git a/srv/object_segmentation.srv b/srv/object_segmentation.srv
index 9fb72e453297e7a4c6790cfeb8ea93d52caec7b6..e60447c07a69defb39ad41fcb65e8ab40b4b6b35 100644
--- a/srv/object_segmentation.srv
+++ b/srv/object_segmentation.srv
@@ -1,4 +1,5 @@
 sensor_msgs/PointCloud2 point_cloud
 ---
 iri_tos_supervoxels/segmented_objects objects
-iri_tos_supervoxels/plane_coefficients plane_coeff
\ No newline at end of file
+iri_tos_supervoxels/plane_coefficients plane_coeff
+sensor_msgs/PointCloud2 plane_cloud