Fit surface to point cloud

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Fit surface to point cloud

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I am trying to take a list of points and fit to various types of surfaces.  For example, I would like to find the closest cylinder that matches a point cloud with cylinder radius and centerline vector.  I think I can use SACSegmentation::segment() with model type of SACMODEL_CYLINDER.  I can't quite figure out the definition of the vector returned in the second parameter of type ModelCoefficients of call to segment().

So, a couple of questions..
a) Am I on the right track?
b) If so, how do I understand the definition of the ModelCoefficients structure?

Thank you.