def METHOD_NAME(device):
    supported_dtypes = [o3c.float32, o3c.float64]
    for dtype in supported_dtypes:
        source_t, target_t, correspondences = get_pcds_and_correspondences(
            dtype, device)
        estimation_p2l = o3d.t.pipelines.registration.TransformationEstimationPointToPlane(
        )
        transformation_p2l = estimation_p2l.compute_transformation(
            source_t, target_t, correspondences)
        source_transformed_p2l = source_t.transform(
            transformation_p2l.to(device, dtype))
        p2l_rmse = estimation_p2l.compute_rmse(source_transformed_p2l, target_t,
                                               correspondences)
        np.testing.assert_allclose(p2l_rmse, 0.601422, 0.0001)