setAxis and setEpsAngle for cylinder RANSAC

[bimtauer]

Hi, I'm trying to detect vertical cylinders in a pointcloud. Thanks to your documentation of examples I managed to detect cylinders within the radius limits that I am looking for - however I would also like to specify their direction.

In the original pcl documentation I found the member functions setAxis and setEpsAngle of the sac_model_cylinder class. To my understanding they allow specifying an axis and a maximum deviation from that axis for the model fitting. How would one call these in python?

Below is the code I am using so far - could someone point out how I integrate setAxis and setEpsAngle here?

seg = pointcloud.make_segmenter_normals(ksearch=50)
seg.set_optimize_coefficients(True)
seg.set_model_type(pcl.SACMODEL_CYLINDER)
seg.set_normal_distance_weight(0.05)
seg.set_method_type(pcl.SAC_RANSAC)
seg.set_max_iterations(10000)
seg.set_distance_threshold(0.3)
seg.set_radius_limits(0.05, 0.2)
indices, model = seg.segment()
cylinder = pointcloud.extract(indices, negative=False)
remaining = pointcloud.extract(indices, negative=True)

[GreKro]

@bimtauer
Did you solve this problem ?
Thanks in advance for answer.