Interactively check for "too few correspondences?"
Right now, I'm trying to intelligently set my correspondence threshold for ICP. Like in the tutorial, if it's converged, I tighten the threshold and go again, until I reach some minimum that makes me feel warm and fuzzy.
But I'd also like to go the other direction. When ICP tells me "too few correspondences found, relax your threshold," I'd like to be able to do that on the fly. Is there some return value or flag I can check, so that if I need to relax my threshold, I can do so and try again?