diff --git a/vcg/complex/algorithms/point_matching_scale.h b/vcg/complex/algorithms/point_matching_scale.h
new file mode 100644
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+++ b/vcg/complex/algorithms/point_matching_scale.h
@@ -0,0 +1,134 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* 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.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include <vcg/math/matrix44.h>
+#include <vcg/space/point3.h>
+#include <vcg/space/box3.h>
+#include <wrap/newuoa/include/newuoa.h>
+
+namespace vcg {
+
+template <class Scalar>
+struct RotoTranslation
+{
+	RotoTranslation(){}
+	Scalar _v[6];
+	void ToMatrix(vcg::Matrix44<Scalar> & m)
+	{
+		vcg::Matrix44<Scalar> rot,tra;
+		rot.FromEulerAngles(_v[0],_v[1],_v[2]);
+		tra.SetTranslate(vcg::Point3<Scalar>(_v[3],_v[4],_v[5]));
+		m = tra * rot;
+	}
+};
+
+class PointMatchingScale {
+private:
+	static std::vector<vcg::Point3d> *fix;
+	static std::vector<vcg::Point3d> *mov;
+	static vcg::Box3d b;
+
+public:
+	/**
+	 * Compute a scaling transformation that bring PMov point as close as possible to Pfix
+	 */
+	static void ComputeScalingMatchMatrix(
+			vcg::Matrix44d &res,
+			std::vector<vcg::Point3d> &Pfix,
+			std::vector<vcg::Point3d> &Pmov)
+	{
+		fix = &Pfix;
+		mov = &Pmov;
+		b.SetNull();
+		for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
+			b.Add(*i);
+
+		double scale = 1.0;
+		min_newuoa(1,&scale,errorScale);
+
+		res.SetTranslate( b.Center()*(1.0-scale));
+		res[0][0] = res[1][1] = res[2][2] = scale;
+	}
+
+	/**
+	 * Compute a rototranslation + scaling transformation that bring PMov point as close as possible to Pfix
+	 */
+	static void ComputeRotoTranslationScalingMatchMatrix(
+			vcg::Matrix44d &res,
+			std::vector<vcg::Point3d> &Pfix,
+			std::vector<vcg::Point3d> &Pmov)
+	{
+		fix = &Pfix;
+		mov = &Pmov;
+		b.SetNull();
+		for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
+			b.Add(*i);
+
+		double x[7]={1.0,0.0,0.0,0.0,0.0,0.0,0.0};
+		min_newuoa(7,&x[0],errorRotoTranslationScale);
+
+		// rtm = rototranslation
+		RotoTranslation<double> rt;
+		vcg::Matrix44d rtm;
+		memcpy(&rt._v[0],&x[1],6*sizeof(double));
+		rt.ToMatrix(rtm);
+
+		// res= scaling w.r.t. barycenter
+		res.SetTranslate( b.Center()*(1.0-x[0]));
+		res[0][0] = res[1][1] = res[2][2] = x[0];
+		res = rtm*res;
+	}
+
+	static double errorScale(int n, double *x)
+	{
+		assert(n==1); (void)n;
+		double dist = 0;
+		std::vector<vcg::Point3d>::iterator i = mov->begin();
+		std::vector<vcg::Point3d>::iterator ifix = fix->begin();
+		for(; i !=  mov->end(); ++i,++ifix)
+			dist += vcg::SquaredDistance(((*i)-b.Center())*(*x)+b.Center() , *ifix);
+
+		return dist;
+	}
+
+	static double errorRotoTranslationScale(int n, double *x) {
+		assert(n==7); (void)n;
+		double dist = 0;
+		std::vector<vcg::Point3d>::iterator i = mov->begin();
+		std::vector<vcg::Point3d>::iterator ifix = fix->begin();
+
+		RotoTranslation<double> rt;
+		vcg::Matrix44d m;
+		memcpy(&rt._v[0],&x[1],6*sizeof(double));
+		rt.ToMatrix(m);
+
+		for(; i !=  mov->end(); ++i,++ifix) {
+			dist += vcg::SquaredDistance(	 m*(((*i)-b.Center())*(x[0])+b.Center()),*ifix);
+		}
+		return dist;
+	}
+
+};
+
+}
+