Greetings dear reasearchers

I am a Robotics master's student at the University of Tehran, working on visualizing the 3d reconstruction mesh of a defective sewer pipe. My dataset is a cylindrical pipe with the length of 20 meters and 2m diameter, and I have added some anomalies like tree roots, blockage, deposit, spalling & corrosion. I have questions for those who have done research work in this field. What is the best 3d mesh algorithm for processing this kind of data with structural anomalies? I have uploaded the image of the defective pipe too for better understanding. Please let me know if you have any information about this subject.