Equivalent for pclvisualizer->updatePointCloudPose?

### 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).

### My Question

Hi
When I use pcl to visualize point cloud, I can use updatePointCloudPose to change the pose of a point cloud without recomputing coordinates manually. In Open3D visualizer, it seem not to have such a function. I was wondering if there exists any equivalent way for this handy function. Thank you!