How can we judge if two point clouds have an intersection

### Checklist

- [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 searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [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

Assuming that we have a point cloud A with shape (N, 3) and a point cloud B with shape (M, 3), how can we judge if these two point clouds have an **intersection** by using the functions supported by Open3D quickly.
"**No intersection**" means all points of point cloud A are not in the mesh constructed by the point cloud B here (It is not a point cloud registration problem).
Thank you very much.