"project_to_rgbd_image" provides inconsistent depth and color images.

[Darcy-vision]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

device = o3d.core.Device('cuda:0')
pcd_tensor = o3d.t.geometry.PointCloud.from_legacy(pcd, device=device)
intrinisics = o3d.core.Tensor([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=o3d.core.float32, device=device)

rgbd_reproj = pcd_tensor.project_to_rgbd_image(W, H, intrinisics)
fig, axs = plt.subplots(1, 2)
axs[0].imshow(np.asarray(rgbd_reproj.color.to_legacy()))
axs[1].imshow(np.asarray(rgbd_reproj.depth.to_legacy()))

The depth image and the color image provided by "project_to_rgbd_image" are inconsistent. The color image contains many black scattered invalid areas, while the depth image does not. I understand that the black areas in the color image represent areas where no point cloud is rendered, but why does the depth image have values in those areas?