TSDF not integrating properly if we increase sdf_trunc parameter

### 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

Any idea why TSDF doesn't get properly integrated when we increase stf_trunc value ? Any workaround ?

Basically I want Non-Truncated SDF. So, I tried increasing sdf_trunc parameter. But TSDF seems to be not integrating properly.

Below is the extracted point cloud from same TSDF. We can see very distorted pointcloud. TSDF is also not accurate.


When we keep sdf_trunc low, then TSDF is all good.