diff --git a/Polyhedron/demo/Polyhedron/Plugins/Point_set/CMakeLists.txt b/Polyhedron/demo/Polyhedron/Plugins/Point_set/CMakeLists.txt
index df97b278ef6..888168aba6b 100644
--- a/Polyhedron/demo/Polyhedron/Plugins/Point_set/CMakeLists.txt
+++ b/Polyhedron/demo/Polyhedron/Plugins/Point_set/CMakeLists.txt
@@ -22,6 +22,16 @@ if(EIGEN3_FOUND)
   polyhedron_demo_plugin(point_set_shape_detection_plugin Point_set_shape_detection_plugin ${point_set_shape_detectionUI_FILES} KEYWORDS PointSetProcessing Classification)
   target_link_libraries(point_set_shape_detection_plugin PUBLIC scene_surface_mesh_item scene_points_with_normal_item scene_polygon_soup_item scene_callback_signaler)
 
+  find_package(OpenGR)
+  if (OpenGR_FOUND)
+    include_directories(SYSTEM ${OpenGR_INCLUDE_DIR})
+    polyhedron_demo_plugin(register_point_sets_plugin Register_point_sets_plugin)
+    target_link_libraries(register_point_sets_plugin PUBLIC scene_points_with_normal_item)
+  else()
+    message(STATUS "NOTICE: registration plugin requires OpenGR, and will not be compiled.")
+  endif()
+
+
 else(EIGEN3_FOUND)
   message(STATUS "NOTICE: Eigen 3.1 (or greater) was not found. Surface reconstruction plugin will not be available.")
   message(STATUS "NOTICE: Eigen 3.1 (or greater) was not found. Normal estimation plugins will not be available.")
diff --git a/Polyhedron/demo/Polyhedron/Plugins/Point_set/Register_point_sets_plugin.cpp b/Polyhedron/demo/Polyhedron/Plugins/Point_set/Register_point_sets_plugin.cpp
new file mode 100644
index 00000000000..a728ddba123
--- /dev/null
+++ b/Polyhedron/demo/Polyhedron/Plugins/Point_set/Register_point_sets_plugin.cpp
@@ -0,0 +1,164 @@
+#include "config.h"
+#include "Scene_points_with_normal_item.h"
+#include <CGAL/Three/Polyhedron_demo_plugin_helper.h>
+#include <CGAL/Three/Polyhedron_demo_plugin_interface.h>
+
+#define CGAL_OPENGR_VERBOSE
+#include <CGAL/OpenGR/register_point_sets.h>
+#include <CGAL/Timer.h>
+#include <CGAL/Memory_sizer.h>
+
+#include <QObject>
+#include <QAction>
+#include <QMainWindow>
+#include <QApplication>
+#include <QtPlugin>
+#include <QInputDialog>
+#include <QMessageBox>
+#include <QRadioButton>
+#include <QLabel>
+#include <QSpinBox>
+#include <QDoubleSpinBox>
+
+#include <QMultipleInputDialog.h>
+
+
+using namespace CGAL::Three;
+class Polyhedron_demo_register_point_sets_plugin :
+  public QObject,
+  public Polyhedron_demo_plugin_helper
+{
+  Q_OBJECT
+  Q_INTERFACES(CGAL::Three::Polyhedron_demo_plugin_interface)
+  Q_PLUGIN_METADATA(IID "com.geometryfactory.PolyhedronDemo.PluginInterface/1.0")
+
+private:
+  QAction* actionRegisterPointSets;
+  
+public:
+  void init(QMainWindow* mainWindow, CGAL::Three::Scene_interface* scene_interface, Messages_interface*) {
+    scene = scene_interface;
+    mw = mainWindow;
+    actionRegisterPointSets = new QAction(tr("Register point sets"), mainWindow);
+    actionRegisterPointSets->setObjectName("actionRegisterPointSets");
+    connect(actionRegisterPointSets, SIGNAL(triggered()), this, SLOT(on_actionRegisterPointSets_triggered()));
+  }
+
+  QList<QAction*> actions() const {
+    return QList<QAction*>() << actionRegisterPointSets;
+  }
+  
+  bool applicable(QAction*) const {
+    return get_point_set_items().size() >= 2;
+  }
+
+  std::vector<Scene_points_with_normal_item*> get_point_set_items() const
+  {
+    std::vector<Scene_points_with_normal_item*> items;
+
+    Q_FOREACH(int index, scene->selectionIndices())
+    {
+      Scene_points_with_normal_item* item =
+        qobject_cast<Scene_points_with_normal_item*>(scene->item(index));
+      if(item && item->point_set()->has_normal_map())
+        items.push_back (item);
+    }
+    
+    return items;
+  }
+
+public Q_SLOTS:
+  void on_actionRegisterPointSets_triggered();
+private :
+  Scene_interface *scene;
+}; // end Polyhedron_demo_register_point_sets_plugin
+
+void Polyhedron_demo_register_point_sets_plugin::on_actionRegisterPointSets_triggered()
+{
+  std::vector<Scene_points_with_normal_item*> items = get_point_set_items();
+
+  QMultipleInputDialog dialog ("Register point sets", mw);
+
+  QSpinBox* nb_samples = dialog.add<QSpinBox>("Number of samples:");
+  nb_samples->setRange (3, 100000000);
+  nb_samples->setValue (200);
+
+  QDoubleSpinBox* accuracy = dialog.add<QDoubleSpinBox>("Accuracy:");
+  accuracy->setDecimals (5);
+  accuracy->setRange (0.00001, 100000.0);
+  accuracy->setValue (0.05);
+  accuracy->setSingleStep (0.1);
+  
+  QDoubleSpinBox* overlap = dialog.add<QDoubleSpinBox>("Overlap:");
+  overlap->setDecimals (2);
+  overlap->setRange (0.01, 1.0);
+  overlap->setValue (0.2);
+  overlap->setSingleStep (0.1);
+  
+  QSpinBox* max_time = dialog.add<QSpinBox>("Maximum running time:");
+  max_time->setRange (1, 36000);
+  max_time->setValue (60);
+  max_time->setSuffix (QString(" s"));
+  
+  dialog.add<QLabel>("Which point set is the reference? (others will be altered)");
+  std::vector<QRadioButton*> buttons;
+  for (std::size_t i = 0; i < items.size(); ++ i)
+  {
+    buttons.push_back (dialog.add<QRadioButton> (items[i]->name().toStdString().c_str()));
+    if (i == 0)
+      buttons.back()->setChecked(true);
+  }
+
+  if (!dialog.exec())
+    return;
+
+  QApplication::setOverrideCursor(Qt::WaitCursor);
+
+  std::size_t ref = 0;
+  for (std::size_t i = 0; i < items.size(); ++ i)
+    if (buttons[i]->isChecked())
+    {
+      ref = i;
+      break;
+    }
+
+  for (std::size_t i = 0; i < items.size(); ++ i)
+  {
+    if (i == ref)
+      continue;
+    
+    CGAL::Timer task_timer; task_timer.start();
+    std::cerr << "Registering " << items[i]->name().toStdString() << " with " << items[ref]->name().toStdString() << std::endl;
+
+    Point_set& ps1 = *(items[ref]->point_set());
+    Point_set& ps2 = *(items[i]->point_set());
+    
+    double score =
+      CGAL::OpenGR::register_point_sets(ps1, ps2,
+                                        CGAL::parameters::point_map(ps1.point_map())
+                                        .normal_map(ps1.normal_map())
+                                        .number_of_samples(nb_samples->value())
+                                        .maximum_running_time(max_time->value())
+                                        .accuracy(accuracy->value())
+                                        .overlap(overlap->value()),
+                                        CGAL::parameters::point_map(ps2.point_map())
+                                        .normal_map(ps2.normal_map()));
+    
+    std::size_t memory = CGAL::Memory_sizer().virtual_size();
+    std::cerr << "Registration score: " << score << " ("
+              << task_timer.time() << " seconds, "
+              << (memory>>20) << " Mb allocated)"
+              << std::endl;
+  }
+  
+  for (std::size_t i = 0; i < items.size(); ++ i)
+  {
+    items[i]->invalidateOpenGLBuffers();
+    scene->itemChanged(items[i]);
+  }
+
+  QApplication::restoreOverrideCursor();
+}
+
+
+#include "Register_point_sets_plugin.moc"