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I'm a new PCL user and I'm facing a problem trying to estimate a plane model in my point cloud. I want to automatically identify the floor in different clouds, so I thought that SACMODEL_PERPENDICULAR_PLANE or SACMODEL_PARALLEL_PLANE would be perfect. However notice that the coordinate system visualized by pcl visualizer and the floor are not "aligned" (coordinate system plane z0x not parallel to the floor => y axis not perpendicular to the floor).
How should I properly use the method setAxis? Particularly strange is the fact that in many of the tested clouds it works correctly if i set it as setAxis(Eigen::Vector3f(0,0,0)), but in other cases it first finds a vertical plane instead of the horizontal one.
Can someone explain me why does it work with that values? This is the snippet: