adds support of ITK 5.1 to the 3rd party transform tutorial

[wyli]

Is your feature request related to a problem? Please describe.
this ticket requests the integration of ITK 5.1.0 pythonic interfaces
e.g.

import xarray as xr
import itk

image = itk.imread('/path/to/image.tif')
da = itk.xarray_from_image(image)
smoothed = itk.median_image_filter(da, radius=3)
print(smoothed)

as a demo in https://github.com/Project-MONAI/MONAI/blob/master/examples/notebooks/3d_image_transforms.ipynb

Additional context
https://discourse.itk.org/t/itk-5-0-beta-1-pythonic-interface/1271

will this also address #135?