How to compute ICP using CUDA by C++ on Windows10?

### 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](https://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](https://www.open3d.org/docs/release/) and the [latest documentation](https://www.open3d.org/docs/latest/) (for `main` branch).

### My Question

On Windows10,
with C++,
with open3D version 0.17 (or 0.18),
I could successfully build open3D from source with cmake flag "CUDA Support = ON".

But, I do not know how to compute ICP using CUDA (GPU) while I am trying to do Generalized-ICP (from example source code).

I read point cloud data from file.
By default, ICP computation is done by CPU, and the result is good.
But I do not know how to do it by CUDA.

Please, can anyone help or guide me to use CUDA in computing ICP?
I will be really grateful.
Thanks in advance~