How to use point cloud color information for texturing a mesh

### 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, while playing around with the new

mesh.compute_uvatlas()
tensors = mesh.bake_triangle_attr_textures(512, set(['positions']))

My case is that I have a point cloud which I convert to mesh and then want to texture.
Of course the point cloud is having much density of information than the vertex of the mesh, so I could get a better texture by loading the colors from the pcd.

Is this still possible ?

Thanks in advance