Thanks for getting in touch,
Please take a look at the following application note which documents the use and workflow for iSTAR in conjunction with a FARO X130 Scanner, It provides all the necessary information required for using iSTAR for this purpose:
If you wish to test the data yourself, the data set with both iSTAR imagery and the 3D point cloud can be accessed using the following link:
The actual process of colourising the Point cloud is fully automated using our Colour cloud software; Colour Cloud can be used as a stand alone application, or as a plugin for FARO Scene software.
If you have further questions, or require pricing info for iSTAR, feel free to get in touch with me directly at firstname.lastname@example.org