Bug: ProjectInliers for SACMODEL_CYLINDER

[fl0ydj]

Problem Description

Hi,
I have had some problems with the ProjectInliers Filter for the SACMODEL cylinder.
The radius of the projected cylinder has been way too small.
After having a look at sac_model_cylinder.hpp and some debugging I found out that the fourth dimension of dir is nearly one, thus leading to a smaller radius, as this value is added:
pp += dir * coefficients->values[6];

Solution

I was able to get it working by changing
Eigen::Vector4f p(featureCloud->points[i].x, featureCloud->points[i].y, featureCloud->points[i].z, 1);
to
Eigen::Vector4f p(featureCloud->points[i].x, featureCloud->points[i].y, featureCloud->points[i].z, 0);
However, I am quite unsure about the math and also this step does not help if copy_data_fields is false.
Any ideas how to fix that generally?

[fl0ydj]

Btw, as an example you can just take the code of the cylinder segmentation tutorial:
http://pointclouds.org/documentation/tutorials/cylinder_segmentation.php
And add a ProjectInliers Filter.

[fl0ydj]

Did someone already have a look on it?

[kunaltyagi]

I'd recommend starting a PR to get some discussion going since you already have a fix which works in some cases.