Equivavlent of RegistrationColoredICP in non-legacy open3d::t::pipelines::registration namespace

### 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

In the docs, and most of the tutorials refer the namespace `open3d::pipelines::*` (without `::t`);
Which would be fine to use, but I can not do it, because color data from the intel realsense camera isn't recognized by it.

Instead the non-legacy interface seems to work, and it does so with a better interface.

My problem is I can not find the equivalent of this function(`RegistrationColoredICP`):
http://www.open3d.org/docs/release/cpp_api/namespaceopen3d_1_1pipelines_1_1registration.html#aebefb3a27b84b0d20384f685cba6284f

Instead I found the following class which seems to calculate the same thing(`TransformationEstimationForColoredICP`):
http://www.open3d.org/html/cpp_api/classopen3d_1_1pipelines_1_1registration_1_1_transformation_estimation_for_colored_i_c_p.html

Which requires a corresponmdence set `const CorrespondenceSet &`. I think know what it is supposed to be, it's just have no idea how to calculate it. I think it is supposed to map overlapping pixels to one another. Is there a function calculating this, or better yet another function which implements the same algo as `RegistrationColoredICP` and `TransformationEstimationForColoredICP` ?

I have tried the following, but the shape of it is invalid:

```
open3d::core::Tensor result_transformation =
pointcloud_register.ComputeTransformation(
current_pointcloud, *last_pointcloud, open3d::core::Tensor());

```