Request to add Surfels support feature to Open3d library.

### 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 came across the following link where point clouds are rendered as surfels http://www.open3d.org/docs/latest/jupyter/geometry/pointcloud.html?highlight=surfels
But I did not come across any feature that converts point clouds/mesh to surfels. Please add the Surfels support feature.

### References

Reserarch paper: Surfel based geometry reconstrucion.

### Additional information

_No response_