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I know this is an old thread but just to clarify, this error happens because they never actually implemented a cylinder model in this module. You can check the code in here http://docs.pointclouds.org/1.0.1/sac__segmentation_8hpp_source.html in line #134 you can find the handler for different models and cylinder as well as others aren't defined and go to the default which throws your error.
All the unsuported models are:
SACMODEL_CIRCLE3D, SACMODEL_CYLINDER, SACMODEL_CONE, SACMODEL_TORUS SACMODEL_PARALLEL_LINES, SACMODEL_NORMAL_PLANE, SACMODEL_NORMAL_SPHERE, SACMODEL_REGISTRATION, SACMODEL_REGISTRATION_2D SACMODEL_NORMAL_PARALLEL_PLANE SACMODEL_STICK
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