Wrong camera orientation in motion tracking

Hi all,sorry for my English, I write from Italy. I’ll try to explain my problem.

I’m tracking a footage with a solver error 0.2973. When I try to set the floor, the orientation of the camera is wrong (see screenshot).
So I tried to manually orient the camera, but even if well oriented respect to the xyz axes, geometry is incorrect as you can see from the screenshots below (the selected marker appears to be on the same plane but it is lower).

The video was recorded by a roof of a house so much higher than the road. It seems that Blender is not able to recognize this height and set the floor in a wrong point of view.
Can someone help me solve this problem?
Thank you