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Please accept our apologies for the confusion. ICU refers PI Interface Configuration Utility which is our tool to configure UNIINT based Interfaces. The PI BACNet ICU Control is just a plug-in to ICU that adds the interface specific know-how to ICU. It does not replace PI Interface for Building Automation and Control Network (BACnet) but I found there's also a PI Connector for BACnet. PI Connectors refers the more modern version of data collectors for the PI System. Please see PI Interfaces and PI Connectors.
Thank you Gregor. This clarified many doubts that I had.