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

[JeongJunLee]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (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~