How to perform realtime point cloud registration

### 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

I'm waitting for a new TOF camera
that connected to my raspberry PI can produce point clouds at around 10fps.
The idea would be to sync it with and rgb camera to provide color to the pcd.

But my question is if open3D is able to execute some kind of point cloud registration in realtime, lets say 5 to 10 fps ?
From what I've seen the pipelines presented in the docs are not that fast.

Thanks and kind regards