Once I get some 3-D point coordinates, what algorithm do I use to fit an optimal cylindrical and get the direction vector and radius of the central axis？

Points of different cross sections on a cylinder
My previous idea was to divide a cylinder into layers, and as the number of layers increased, the figure formed by the dots got closer to the cylinder, but in this case I couldn’t get an exact radius of the cylinder. (The central axis is obtained by fitting the center of the circle through each layer)