Parameters estimation of a cylinder with Ransac

[Nizaro]

[ ] Find a python library that solve ransac generally
[ ] Write the function that provides the parameters of the cylinder given N points: C: Center, V3D : 3D orientation vector, R: Radius of the cylinder
[ ] This repo could be a starting point: https://github.com/leomariga/pyRANSAC-3D (cylinder not so good), see the issue: leomariga/pyRANSAC-3D#13