How to run SLAC with a bounding box?

### 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 have read the [color map optimization paper](https://qianyi.info/docs/papers/siggraph14_colormap.pdf) a while back and tried using SLAC using Open3D. ([my question before on using SLAC](https://github.com/isl-org/Open3D/issues/5023))

However, I find it hard to trade off between TSDF voxel size and my reconstruction's level of detail. When I set the voxel size as 1, I cannot finish the reconstruction before my OS crashes, possibly due to insufficient memory. I could, however, finish the reconstruction with very little detail with a voxel size of 10. I made sure the device is set to CPU.

Yet I saw on the color map optimization paper that the authors were able to reconstruct small objects with relatively good detail using only 24 GB of RAM. So I think I need to modify Open3D somehow in order to crop the scene using a bounding box. But I'm not sure how to do it while losing the smallest amount of information during tracking.

My current idea is to modify the integrate function in Open3D and disabling integration outside of the bounding box and decrease the voxel size. Is this correct?

Thanks.