How to collect data and process to have performance like in sample dataset?

### 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](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [x] I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch).

### My Question

Hi, i'm trying to reconstuction my room with this pipeline but i can see that the default dataset look so smooth while my real world dataset is very noisy, the plane doesn't flat, bleeding pixels in edge of object.

It would be greate if someone tell me how to preprocess the data from d435i to achive best result. I've tried to set some filters in realsense SDK but it doesn't help much. Thankyou!