Digging even more with ICP

The options that come with the CICP class are crucial
- icp.options.smallestThresholdDist(playing with this creates horribly bad clouds)
- icp.options.thresholdDist
- icp.options.thresholdAng

- icp.options.ICP_algorithm(Only 'icpClassic' is implemented for ICP-3D)
- icp.options.maxIterations(its default may create a problem, better explicitly keep it very high)
-icp.options.doRANSAC



Why is ICP not coverging?
How to control the internal RANSAC within ICP (can we provide known correspondences to it?)
Why ICP returns pdf and then we need to take mean? Isn't ICP supposed to compute just one R,T?