Based on [this](https://github.com/PointCloudLibrary/pcl/blob/master/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cylinder.hpp#L113) I get the radius, a point on the centerline of the cylinder and a direction vector for the centerline.
Now the location of the collision object is coming correctly but the orientation is not.
I am not entirely certain what the dir vector represents?
I tried various ways to get it to work but none of them seem to work.
Any help greatly appreciated.
Thank you
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