How to fit a cylindrical model to scattered 3D XYZ point data?

Question

I was wondering if it was possible for someone to provide me with some code examples for working with scattered XYZ point data in Point cloud Library? I would like to fit a cylindrical model to segmented scattered point cloud. In short, something like this (https://in.mathworks.com/help/vision/ref/pcfitcylinder.html):

Answer 1

http://pointclouds.org/documentation/tutorials/cylinder_segmentation.php

Just take out the plane fitting stuff

Answer 2

If you have a segmented scene of a cylinder and you have a model cylinder... icp has no local minimums and will get you your pose (note that it will have rotational and translational symetry in the pose (ie there will be a set of solutions of which you will get one)

Here is the icp tutorial: http://pointclouds.org/documentation/tutorials/iterative_closest_point.php