TSDF filtering multipath noise from shiny surfaces

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### My Question

I am using VoxelBlockGrid for integrating RGBD-images in real-time. It works great for non reflective surfaces, but now I need to integrate images with a lot of shiny steel in the scene. Tracking is no problem. But the multipath noise from reflections on the shiny parts are ruining the model.

I found that if I check selected images taken with the same surfaces in focus, but from different view angels, I can verify if the depth measurements from these images are agreeing on the world position of these measured points. And only keep the points that with in tolerance, are represented in all selected images.
For this I convert images using PointCloud::CreateFromRGBDImage(image,..,..) and find the point indices that are close together using cloud1.ComputePointCloudDistance(cloud2). And then at last, integrates a new image only containing the found indices. This kind of works, but is too slow for real-time integration.

I was thinking that my problem was solved, if I could give each voxel in the voxel grid, a higher weight based on how many and different camera angles the voxel has been hit from. but I don't know how to do something like this.

Any suggestions is very much appreciated.