diff --git a/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp
new file mode 100644
index 00000000..323d2435
--- /dev/null
+++ b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp
@@ -0,0 +1,103 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2012                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_fitting.cpp
+\ingroup code_sample
+
+\brief A small example about sampling and fitting
+
+Given a mesh (an icosahedron) for each face we get a few random samples over it, and then we recover:
+- the plane fitting them (that coincide with the face plane and exactly approximate all the sample points)
+- the plane fitting the perturbed version of this set
+- the plane fitting the perturbed version of the set but using a weighted fitting scheme.
+*/
+
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/update/topology.h>
+#include<vcg/complex/algorithms/update/normal.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+#include<vcg/complex/algorithms/point_sampling.h>
+#include<wrap/io_trimesh/import_off.h>
+#include<vcg/space/point_matching.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public vcg::UsedTypes<	vcg::Use<MyVertex>   ::AsVertexType,
+                                        vcg::Use<MyEdge>     ::AsEdgeType,
+                                        vcg::Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public vcg::Vertex<MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::BitFlags  >{};
+class MyFace    : public vcg::Face< MyUsedTypes, vcg::face::FFAdj,  vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::BitFlags > {};
+class MyEdge    : public vcg::Edge<MyUsedTypes>{};
+class MyMesh    : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge>  > {};
+
+float EvalPlane(vcg::Plane3f &pl, vcg::Point3f &dir, std::vector<vcg::Point3f> posVec)
+{
+  float off=0;
+  for(size_t i=0;i<posVec.size();++i)
+    off += fabs(vcg::SignedDistancePlanePoint(pl,posVec[i]));
+
+  off/=float(posVec.size());
+  return off;
+}
+
+
+int main( int argc, char **argv )
+{
+  MyMesh m;
+  vcg::tri::Icosahedron(m);
+  vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(m);
+  vcg::tri::UpdateBounding<MyMesh>::Box(m);
+
+  // As a simple test we get a few random points on a mesh,
+  // we rot and trans them
+  // and we fit them
+
+  std::vector<vcg::Point3f> ExactVec;
+  std::vector<vcg::Point3f> PerturbVec;
+  tri::MontecarloSampling(m,ExactVec,10);
+  PerturbVec=ExactVec;
+
+  Matrix44f RotM;
+  Matrix44f TraM;
+  vcg::tri::SurfaceSampling<MyMesh>::RandomPoint3fBall01();
+  RotM.SetRotateDeg(rand()%360,vcg::tri::SurfaceSampling<MyMesh>::RandomPoint3fBall01());
+  TraM.SetTranslate(1,2,3);
+  Matrix44f RigidM = RotM*TraM;
+
+  for(int i=0;i<ExactVec.size();++i)
+    PerturbVec[i]=RigidM*ExactVec[i];
+
+  Quaternionf q;
+  Point3f tr;
+  Matrix44f res;
+  ComputeRigidMatchMatrix(PerturbVec,ExactVec,res);
+
+  res.print();
+  RigidM.print();
+
+  return 0;
+}
diff --git a/apps/sample/trimesh_pointmatching/trimesh_pointmatching.pro b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.pro
new file mode 100644
index 00000000..3e9eaacd
--- /dev/null
+++ b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_pointmatching
+SOURCES += trimesh_pointmatching.cpp