View position

### 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

I have a lidar data that was scanning my room.

I know the LiDAR sensor x,y,z and the heading.

I want to set the camera parameters which will show the point cloud from the LiDAR perspective. not the top-down or what ever.

How can I do that ?
If you can help me with a simplified code please do.

Thanks