Match o3d.geometry.PointCloud and o3d.t.geometry.PointCloud functionality

### 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](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [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).

### Proposed new feature or change

I am trying to utilize my GPU to perform faster data processing, but the o3d.t.geometry.PointCloud object lacks functions from the o3d.geometry.PointCloud object.
To this point I have been missing depth_trunc in o3d.t.geometry.PointCloud.create_from_depth_image() and the function get_rotation_matrix_from_angle(), but I can see that all of the "get_matrix_from_x" are missing as well.

I have no idea if this is because the calculations have to be different on the GPU and it would be hard to implement or the o3d.t.PointCloud object has been implemented from an older version.

Feel free to get in touch with me if it is just a matter of copy pasting with some simple modifications.

### References

AttributeError: 'open3d.cuda.pybind.t.geometry.PointCloud' object has no attribute 'get_rotation_matrix_from_axis_angle'

T̶y̶p̶e̶E̶r̶r̶o̶r̶:̶ ̶c̶r̶e̶a̶t̶e̶_̶f̶r̶o̶m̶_̶d̶e̶p̶t̶h̶_̶i̶m̶a̶g̶e̶(̶)̶:̶ ̶i̶n̶c̶o̶m̶p̶a̶t̶i̶b̶l̶e̶ ̶f̶u̶n̶c̶t̶i̶o̶n̶ ̶a̶r̶g̶u̶m̶e̶n̶t̶s̶.̶ ̶T̶h̶e̶ ̶f̶o̶l̶l̶o̶w̶i̶n̶g̶ ̶a̶r̶g̶u̶m̶e̶n̶t̶ ̶t̶y̶p̶e̶s̶ ̶a̶r̶e̶ ̶s̶u̶p̶p̶o̶r̶t̶e̶d̶:̶
̶>̶ ̶ ̶ ̶ ̶ ̶1̶.̶ ̶(̶d̶e̶p̶t̶h̶:̶ ̶o̶p̶e̶n̶3̶d̶:̶:̶t̶:̶:̶g̶e̶o̶m̶e̶t̶r̶y̶:̶:̶I̶m̶a̶g̶e̶,̶ ̶i̶n̶t̶r̶i̶n̶s̶i̶c̶s̶:̶ ̶o̶p̶e̶n̶3̶d̶.̶c̶p̶u̶.̶p̶y̶b̶i̶n̶d̶.̶c̶o̶r̶e̶.̶T̶e̶n̶s̶o̶r̶,̶ ̶e̶x̶t̶r̶i̶n̶s̶i̶c̶s̶:̶ ̶o̶p̶e̶n̶3̶d̶.̶c̶p̶u̶.̶p̶y̶b̶i̶n̶d̶.̶c̶o̶r̶e̶.̶T̶e̶n̶s̶o̶r̶ ̶=̶ ̶[̶[̶1̶.̶0̶ ̶0̶.̶0̶ ̶0̶.̶0̶ ̶0̶.̶0̶]̶,̶
̶>̶ ̶ ̶[̶0̶.̶0̶ ̶1̶.̶0̶ ̶0̶.̶0̶ ̶0̶.̶0̶]̶,̶
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̶>̶ ̶T̶e̶n̶s̶o̶r̶[̶s̶h̶a̶p̶e̶=̶{̶4̶,̶ ̶4̶}̶,̶ ̶s̶t̶r̶i̶d̶e̶=̶{̶4̶,̶ ̶1̶}̶,̶ ̶F̶l̶o̶a̶t̶3̶2̶,̶ ̶C̶P̶U̶:̶0̶,̶ ̶0̶x̶2̶f̶8̶f̶b̶b̶0̶]̶,̶ ̶d̶e̶p̶t̶h̶_̶s̶c̶a̶l̶e̶:̶ ̶f̶l̶o̶a̶t̶ ̶=̶ ̶1̶0̶0̶0̶.̶0̶,̶ ̶d̶e̶p̶t̶h̶_̶m̶a̶x̶:̶ ̶f̶l̶o̶a̶t̶ ̶=̶ ̶3̶.̶0̶,̶ ̶s̶t̶r̶i̶d̶e̶:̶ ̶i̶n̶t̶ ̶=̶ ̶1̶,̶ ̶w̶i̶t̶h̶_̶n̶o̶r̶m̶a̶l̶s̶:̶ ̶b̶o̶o̶l̶ ̶=̶ ̶F̶a̶l̶s̶e̶)̶ ̶-̶>̶ ̶o̶p̶e̶n̶3̶d̶.̶c̶p̶u̶.̶p̶y̶b̶i̶n̶d̶.̶t̶.̶g̶e̶o̶m̶e̶t̶r̶y̶.̶P̶o̶i̶n̶t̶C̶l̶o̶u̶d̶
̶>̶ ̶
̶>̶ ̶I̶n̶v̶o̶k̶e̶d̶ ̶w̶i̶t̶h̶:̶ ̶I̶m̶a̶g̶e̶ ̶o̶f̶ ̶s̶i̶z̶e̶ ̶1̶9̶2̶0̶x̶1̶0̶8̶0̶,̶ ̶w̶i̶t̶h̶ ̶1̶ ̶c̶h̶a̶n̶n̶e̶l̶s̶.̶
̶>̶ ̶U̶s̶e̶ ̶n̶u̶m̶p̶y̶.̶a̶s̶a̶r̶r̶a̶y̶ ̶t̶o̶ ̶a̶c̶c̶e̶s̶s̶ ̶b̶u̶f̶f̶e̶r̶ ̶d̶a̶t̶a̶.̶,̶ ̶[̶[̶1̶3̶6̶6̶.̶1̶9̶ ̶0̶.̶0̶ ̶9̶7̶1̶.̶0̶8̶7̶]̶,̶
̶>̶ ̶ ̶[̶0̶.̶0̶ ̶1̶3̶6̶4̶.̶6̶9̶ ̶5̶4̶5̶.̶0̶5̶9̶]̶,̶
̶>̶ ̶ ̶[̶0̶.̶0̶ ̶0̶.̶0̶ ̶1̶.̶0̶]̶]̶
̶>̶ ̶T̶e̶n̶s̶o̶r̶[̶s̶h̶a̶p̶e̶=̶{̶3̶,̶ ̶3̶}̶,̶ ̶s̶t̶r̶i̶d̶e̶=̶{̶3̶,̶ ̶1̶}̶,̶ ̶F̶l̶o̶a̶t̶6̶4̶,̶ ̶C̶P̶U̶:̶0̶,̶ ̶0̶x̶7̶e̶5̶8̶7̶7̶5̶4̶8̶0̶]̶;̶ ̶k̶w̶a̶r̶g̶s̶:̶ ̶d̶e̶p̶t̶h̶_̶t̶r̶u̶n̶c̶=̶4̶.̶5̶
̶>̶ ̶E̶r̶r̶o̶r̶ ̶i̶n̶ ̶a̶t̶e̶x̶i̶t̶.̶_̶r̶u̶n̶_̶e̶x̶i̶t̶f̶u̶n̶c̶s̶:̶

### Additional information

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