Reconstruction issue with PointCloud.create_from_rgbd_image

### 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

Hi, I am having issue with the result of my 3D model reconstruction. I would like to have some insight :)
In order to use PointCloud.create_from_rgbd_image function, I have DRONE images (RGB), Depth Images, Camera calibration (intrinsic), and extrinsic which the camera pose. The camera pose has been calculated not by getting drone odometry/telemetry but by using Feature matching using ORB algorithm. This algorithm provides very accurate on KITTI dataset for pose estimation.

So after feeding that function with all the necessary inputs I have the result bellow.


I would like to understand why it is scattered like this and why axis are reserved? And of course, what should I do to have a smooth and clean model. Many thanks !~