The attached Collada model will import successfully to SketchUp, but without the colors. The file can be imported correctly colorized into MeshLab or Open 3D Model Viewer.
Please extend the Collada import to support models having vertex colors instead of textures.
I think vertex-colored models are quite common when meshing pointcloud data, if no additional photos are available for hi-res texturing.
Here is the file (“chair_orig_vertexcolors.dae”): https://www.dropbox.com/s/eiquzvs59cg1s2x/chair_collada.zip?dl=0