DATASET AND CODE FOR FITTING CYLINDER
This data set uses to evaluate the fitting cylinder from point cloud data of cylindrical objects. The format of all data sets is '.pcd' file (file format of point cloud data (pcd)). You can download the data set in this link 'Generated cylinder data set'. This data set consists of six different subsets, denoted from dC_{1} to dC_{6}. For each subset dC_{i}, inlier ratio is increased by a step of 5% from 10 to 80 % as Table 1. Therefore, there are fifteen point clouds. They are denoted dS_{1} to dS_{15}. A point cloud dS_{i} consists of three thousand points. Each point of a dS_{i} has the 3D coordinate (x, y, z) which generated from MATALB based on the cylinder equation. An inlier data point (x_{i},y_{i}, z_{i}) of dS_{i} is lying on the cylinder's curvedsurface which is generated as follows: x_{i} = cos(θ_{i}); z_{i} or y_{i}= sin(θ_{i}) respectively; y_{i} or z_{i} is randomly selected in [0, 1] respectively; θ_{i} is randomly selected from [0, 2π]. That means the cylinder's axis of generating cylinder following the direction of yaxis or zaxis of the original coordiante system. The radius of the generated cylinder is 2, the coordiantes of a point on the cylinder's axis are (0,0,0) and the height of cylinder is 1. Therefore, all of inlier points are generated from a cylinder, that has the equation (x^{2} + y^{2} + z^{2} = 2^{2}). Outliers are generated randomly as a normal distribution from [3, 3] or [4, 4]. The detail of each subset is presented in Table 1. Some illustrating images of dC_{1} to dC_{6} at the inlier ratio 50% (dS_{5}) are presented as Figure 1.
Dataset  Characteristics of the generalized data  

Height/ Radius 
Direction of main axis 
Spatial distribution of inliers 
Spread of outliers 

dC_{1}, dC_{4} 
1 / 2 
parallel withthe zaxis 
Around of a cylinder 
[3, 3], [4, 4] 
dC_{2}, dC_{5} 
1 / 2 
parallel with the yaxis 
Around of a cylinder 
[3, 3], [4, 4] 
dC_{3}, dC_{6} 
1 / 2 
parallel with the yaxis 
one half of a cylinder 
[3, 3], [4, 4] 