Numba with Open3d

I have a project in which I use Open3d to build a 3d model. The process of building the model takes far too long when the number of point clouds to be stitched is high. I tried to use Numba to reduce the time but when I turn on the flag nopython an exception is thrown while calling Open3d function registration_icp() saying "Failed in nopython mode pipeline (step: nopython frontend)
[1me[1mnon-precise type pyobjecte[0m
[0me[1mDuring: typing of argument "

I understand that since the return value of the function registration_icp() is not a numpy array. How should I receive the return value?

Can anyone help out please?

Numba only supports a subset of Python and NumPy:

It is unlikely that you will be able to compile functions from the Open3d project with Numba.

Thanks. I will need to find other ways to speed things up.