diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
index 0953c2835e8..2d8e95f901c 100644
--- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
@@ -715,6 +715,53 @@ pcl::visualization::PCLVisualizer::addText3D (
   return (true);
 }
 
+//////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::visualization::PCLVisualizer::addText3D (
+  const std::string &text,
+  const PointT& position,
+  double orientation[3],
+  double textScale,
+  double r,
+  double g,
+  double b,
+  const std::string &id,
+  int viewport)
+{
+  std::string tid;
+  if (id.empty ())
+    tid = text;
+  else
+    tid = id;
+
+  if (contains (tid))
+  {
+    PCL_WARN ("[addText3D] The id <%s> already exists! Please choose a different id and retry.\n", id.c_str ());
+    return (false);
+  }
+
+  vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New ();
+  textSource->SetText (text.c_str());
+  textSource->Update ();
+
+  vtkSmartPointer<vtkPolyDataMapper> textMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+  textMapper->SetInputConnection (textSource->GetOutputPort ());
+
+  vtkSmartPointer<vtkActor> textActor = vtkSmartPointer<vtkActor>::New ();
+  textActor->SetMapper (textMapper);
+  textActor->SetPosition (position.x, position.y, position.z);
+  textActor->SetScale (textScale);
+  textActor->GetProperty ()->SetColor (r, g, b);
+  textActor->SetOrientation (orientation);
+
+  addActorToRenderer (textActor, viewport);
+
+  // Save the pointer/ID pair to the global actor map. If we are saving multiple vtkFollowers
+  (*shape_actor_map_)[tid] = textActor;
+
+  return (true);
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointNT> bool
 pcl::visualization::PCLVisualizer::addPointCloudNormals (
diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
index 4a9c8b9b753..434524013ae 100644
--- a/visualization/include/pcl/visualization/pcl_visualizer.h
+++ b/visualization/include/pcl/visualization/pcl_visualizer.h
@@ -599,6 +599,28 @@ namespace pcl
                    double r = 1.0, double g = 1.0, double b = 1.0,
                    const std::string &id = "", int viewport = 0);
 
+        /** \brief Add a 3d text to the scene
+          * \param[in] text the text to add
+          * \param[in] position the world position where the text should be added
+          * \param[in] orientation the angles of rotation of the text around X, Y and Z axis,
+                       in this order. The way the rotations are effectively done is the
+                       Z-X-Y intrinsic rotations:
+                       https://en.wikipedia.org/wiki/Euler_angles#Definition_by_intrinsic_rotations
+          * \param[in] textScale the scale of the text to render
+          * \param[in] r the red color value
+          * \param[in] g the green color value
+          * \param[in] b the blue color value
+          * \param[in] id the text object id (default: equal to the "text" parameter)
+          * \param[in] viewport the view port (default: all)
+          */
+        template <typename PointT> bool
+        addText3D (const std::string &text,
+                   const PointT &position,
+                   double orientation[3],
+                   double textScale = 1.0,
+                   double r = 1.0, double g = 1.0, double b = 1.0,
+                   const std::string &id = "", int viewport = 0);
+
         /** \brief Check if the cloud, shape, or coordinate with the given id was already added to this visualizer.
           * \param[in] id the id of the cloud, shape, or coordinate to check
           * \return true if a cloud, shape, or coordinate with the specified id was found