OPEN3D_GET_LAST_CUDA_ERROR(): invalid device function when Using Tensor Version of TransformationEstimation

### 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](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### My Question

Hi,

I ran into another error for the tensor version of `pipelines.registration.TransformationEstimationPointToPoint()`. The error is shown as
```
...
transformation_o3d = TE.compute_transformation(cloud_src_cloud, cloud_tgt_cloud, corr_o3d_tensor)
RuntimeError: [Open3D Error] (void open3d::core::__OPEN3D_GET_LAST_CUDA_ERROR(const char*, const char*, int)) /root/Open3D/cpp/open3d/core/CUDAUtils.cpp:311: /root/Open3D/cpp/open3d/core/ParallelFor.h:85 ParallelFor failed.: OPEN3D_GET_LAST_CUDA_ERROR(): invalid device function
```
I did check that all `cloud_src_cloud`, `cloud_tgt_cloud` and `corr_o3d_tensor` are on CUDA. I searched invalid device function error for some other packages and it looks like mostly this type of error is caused by CUDA version, but I'm not sure if it applies to Open3D. The source code defining the error wasn't informative to me. The output of `nvidia-smi` command on my machine is
```
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 510.47.03 Driver Version: 510.47.03 CUDA Version: 11.6 |
|-------------------------------+----------------------+----------------------+
```
while the output of `nvcc --version` shows that
```
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2021 NVIDIA Corporation
Built on Mon_May__3_19:15:13_PDT_2021
Cuda compilation tools, release 11.3, V11.3.109
Build cuda_11.3.r11.3/compiler.29920130_0
```
I am not sure if the version mismatch of CUDA is causing the problem. I would really appreciate it if anyone could give some suggestions and help me out. Thanks!