PoissonRecon output should not depend on 'width' param if 'depth' is given

Checklist

[X] I have searched for similar issues.
[X] For Python issues, I have tested with the latest development wheel.
[X] I have checked the release documentation and the latest documentation (for master branch).

Describe the issue

Readme file from original PoissonRecon repo and the release documentation of open3d says that --width param is ignored if --depth is specified. However, according to this issue, the open3d porting is highly assumed to be responsible for the --width inconsistency as the original C++ code made reproducible mesh regardless of --width value (with --depth specified, obviously).

Steps to reproduce the bug

def test_min_num_points(depth, width, scale):
    for i in range(10, 0, -1):
        sampled_pcl = o3d.geometry.PointCloud()
        sampled_pcl.points = o3d.utility.Vector3dVector(np.arange(3 * i).reshape((-1, 3)))
        sampled_pcl.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(
            radius=50, max_nn=100))
        try:
            (
                poisson_mesh,
                densities,
            ) = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
                sampled_pcl,
                depth=depth,
                width=width,
                scale=scale,
                linear_fit=True,
                n_threads=-1)
        except Exception as e:
            print("Exception message:", e)
            print("Number of input points:", i)
            return

>>> test_min_num_points(7, 5, 1)

>>> test_min_num_points(7, 0, 1)

Error message

>>> test_min_num_points(7, 5, 1)
Exception message: [Open3D Error] (void open3d::geometry::poisson::Execute(const open3d::geometry::PointCloud&, std::shared_ptr<open3d::geometry::TriangleMesh>&, std::vector<double>&, int, float, float, bool, UIntPack<CSignatures ...>) [with Real = float; SampleData = {}; unsigned int ...FEMSigs = {5, 5, 5}]) /root/Open3D/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp:519: depth (=1) has to be >= 2

Number of input points: 4

>>> test_min_num_points(7, 0, 1)
[WARNING] /root/Open3D/build/poisson/src/ext_poisson/PoissonRecon/Src/FEMTree.Initialize.inl (Line 192)
          Initialize
          Found out-of-bound points: 1
[WARNING] /root/Open3D/build/poisson/src/ext_poisson/PoissonRecon/Src/FEMTree.Initialize.inl (Line 192)
          Initialize
          Found out-of-bound points: 1
[WARNING] /root/Open3D/build/poisson/src/ext_poisson/PoissonRecon/Src/FEMTree.Initialize.inl (Line 192)
          Initialize
          Found out-of-bound points: 1
[WARNING] /root/Open3D/build/poisson/src/ext_poisson/PoissonRecon/Src/FEMTree.Initialize.inl (Line 192)
          Initialize
          Found out-of-bound points: 1
Segmentation fault (core dumped)
**Python interpreter crashes**

Expected behavior

Triangle mesh created from o3d.geometry.TriangleMesh.create_from_point_cloud_poisson should yield identical output for various width value as long as depth param is specified.

Open3D, Python and System information

- Operating system: Ubuntu 20.04
- Python version: Python 3.8.13
- Open3D version: 0.16.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip

Additional information

No response

isl-org / Open3D