Augmenting a point cloud of an object in a scene acquired with a depth camera using the object’s STL

Is augmenting a point cloud of an object in a scene acquired with a depth camera using the object’s STL possible ?

So, I need to plan precise 6D tool paths on the surface of an object captured by a depth camera; the problem is that sometimes the point cloud captured has holes on the surface of the object due to reflections and other visual artifacts.

I have access to the STL models of the objects being scanned, could I use this to “improve” the quality of the points on the surface of the object ?

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Please help me, this problem is stressing me out.

submitted by /u/Snapdragon_625
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