This is ColorICP, a resgistration tool (and a viewer) for 3D meshes.
( Url: http://www.eis.uva.es/~eduzal/icpcolor/ )

The algorithm is full described in:
Jaime Gómez-García-Bermejo, Eduardo Zalama, Raúl Feliz 
 AUTOMATED REGISTRATION OF 3D SCANS USING GEOMETRIC FEATURES AND
NORMALIZED COLOR DATA    
Submitted to Computer-Aided Civil and Infrastructure Engineering (CACAIE)
Paper abstract: 
    In this paper, a method for the automated registration of two 
    partly-overlapped dense point clouds corresponding to a given object or 
    scene is addressed. The proposed approach has a number of significant 
    advantages, such as the consideration of both geometric and colour data, the 
    automated search for the best suited points for registration (based on their 
    local geometry and colour properties), and the automated estimation of the 
    overlapping region. The proposed approach has been tested on real scanner data 
    and compared with others, showing better performance in terms of accuracy and 
    speed.


The code incorporates techniques and algorithms from the following papers:

    Raúl Feliz-Alonso, Eduardo Zalama, Jaime Gómez-García-Bermejo.
    Automated registration of dense point clouds upon geometry and color information,
    Submitted to Image and Vision Computing.

    Doug DeCarlo, Adam Finkelstein, Szymon Rusinkiewicz, Anthony Santella.
    Suggestive Contours for Conveying Shape,
    ACM Transactions on Graphics (Proc. SIGGRAPH 2003), Vol. 22, No. 3,
        pp. 848-855, July, 2003.

    Doug DeCarlo, Adam Finkelstein, and Szymon Rusinkiewicz.
    Interactive Rendering of Suggestive Contours with Temporal Coherence,
    Symposium on Non-Photorealistic Animation and Rendering (NPAR),
        June, 2004. 

    Doug DeCarlo and Szymon Rusinkiewicz.
    Highlight Lines for Conveying Shape,
    Interactive Rendering of Suggestive Contours with Temporal Coherence,
    Symposium on Non-Photorealistic Animation and Rendering (NPAR),
        July, 2007. 

    Tilke Judd, Fredo Durand, and Edward Adelson.
    Apparent Ridges for Line Drawing,
    ACM Transactions on Graphics (Proc. SIGGRAPH 2007), Vol 26, No. 3,
        July, 2007. 

The authors of ColorICP are Raúl Feliz Alonso, Eduardo Zalama Casanova and Jaime Gómez García-Bermejo, and
the code is distributed under the GNU General Public License (GPL).



Operating System:
-----------------
The binary file provided can run directly under Windows XP; a 800 x 600 resolution (or more) is recomended.
This file can also run under Windows Vista OS, selecting classical view in display properties. Also, in Windows
Vista select one view instead two views inside the program.


Usage:
------
        double click on the ColorICP.exe

The program takes two 3D triangle meshes as input.  Most flavors of PLY files, as well as many VRML 
files, are supported.


Interacting with the program:
-----------------------------
Press Load Button to charge one or two meshes.
-For moving the meshes:
	Use left mouse button for rotation.
	Use right mouse button for traslation
	Use middle mouse button for zoom
-The program allows you drawing the meshes either together or separately.
-Check the button "Move Mesh 2" for moving just mesh 2 when meshes are drawn together.
-Use "Center" button to center the meshes when they are drawn together.
-Appearance groups of buttons change properties on the drawn meshes:
	Ligth
	Brightness
	Show triangles
	Draw both sides of the mesh
	Draw mesh in white, RGB or meaningful color used by the algorithm
	Change the threshold for calculating meaningful color.
	Draw Crest Lines (only when the meshes are shown separately).
	Change the threshold for calculating Crest Lines.

Using the algorithm:
-Press ICP Button to registrate both meshes without using the colour information
(as Rusinkievicz's ICP does).
-Press Colour ICP Button to registrate both meshes using the colour information
(proposed method).
-Select INITIAL, ICP or COLOUR ICP views to see the initial pose and the results of both registration methods.

The registrarion algorithm is applied starting from the pose selected. Is INITIAL is selected, the algorithm does
the registration starting from the initial pose. If ICP or COLOUR ICP are selected, the algorithm does the 
registration starting from the result of a previous registrarion.

Save Button saves the results in PLY files.



Recompiling the code:
---------------------

The code has been implemented in C++, and is known to compile using Visual Studio 2008 Express.
Click on ..\ColorICP\Algorithm\algorithm.sln with the Visual Studio 2008 installed on your computer.

Compiling under Linux should be posible creating your own project with the source code.

ColorICP uses the trimesh2 library, as well as the freeglut and GLUI
libraries distributed with it.  The whole package is available at
http://www.cs.princeton.edu/gfx/proj/trimesh2/


 - Raúl Feliz
   raufel@cartif.es