def METHOD_NAME(device):
    supported_dtypes = [o3c.Dtype.Float32, o3c.Dtype.Float64]
    for dtype in supported_dtypes:
        source_t, target_t, correspondences = get_pcds_and_correspondences(
            dtype, device)
        estimation_p2p = o3d.t.pipelines.registration.TransformationEstimationPointToPoint(
        )
        p2p_rmse = estimation_p2p.compute_rmse(source_t, target_t,
                                               correspondences)
        np.testing.assert_allclose(p2p_rmse, 0.706437, 0.0001)