1. A machine vision method for identifying one or more sets of collinear points from data points, the method comprising the steps of: A. searching among projections taken at a plurality of candidate angles determine an estimated angle of the sets of collinear points; B. identifying the sets of collinear points from a projection of the data points at an angle based on the estimated angle; and C. outputting a characteristic of a line formed by at least one of the sets of collinear points.