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In the derivation of T, why can the term with the determinant of the covariance matrix in the MLE be neglected?

Hi,
I recently asked myself about the consistency of the gradient tolerance parameter of the GICPOptimizer class:

In some of my tests, I had to use a lower tolerance of 1e-3 to reach correct convergence.
My feeling is that with tolerance set to 1e-2, the convergence is sais to be reached, whereas in terms of position it's ok but not in terms of rotation.
Maybe I missed something, but I find it quite cumbersome to check for the norm of a 6Dof vector mixing positions and euler angles gradients. Wouldn't it be better to check separately for the positions and angles gradients?

There's also an ongoing discussion in PCL issue #3813.

Could you help me on this point?

Thx